Danbias/Code/GamePhysics/Implementation/SimpleRigidBody.cpp

152 lines
3.7 KiB
C++

#include "SimpleRigidBody.h"
#include "PhysicsAPI_Impl.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;
SimpleRigidBody::SimpleRigidBody()
: previous(), current(),
gravityNormal(0.0f),
subscribeCollision(true),
ignoreGravity(false) {}
SimpleRigidBody::~SimpleRigidBody() {}
UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
{
return new SimpleRigidBody( *this );
}
bool SimpleRigidBody::IsSubscribingCollisions() const
{ // Assumption
return this->subscribeCollision;
}
bool SimpleRigidBody::IsAffectedByGravity() const
{
return !this->ignoreGravity;
}
bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
{
if( object.Intersects(this->current.box) )
{ //! @todo TODO: better implementation needed
deltaWhen = timeStepLength;
worldPointOfContact = Average( this->current.box.center, object.GetCenter() );
return true;
}
else
{
return false;
}
}
bool SimpleRigidBody::Intersects( const ICollideable &shape ) const
{
return this->current.box.Intersects( shape );
}
Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
return targetMem = Sphere( this->current.box.center, this->current.box.boundingOffset.GetMagnitude() );
}
Float3 & SimpleRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
{
//! @todo TODO: better implementation needed
return targetMem = (worldPos - this->current.box.center).GetNormalized();
}
Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const
{
return targetMem = this->gravityNormal;
}
Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const
{
return targetMem = this->current.box.center;
}
Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const
{
return targetMem = this->current.box.rotation;
}
Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetOrientation();
}
Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const
{
return targetMem = this->current.GetView();
}
UpdateState SimpleRigidBody::Update( Float timeStepLength )
{
this->previous = this->current; // memorizing the old state
this->current.Update_LeapFrog( timeStepLength );
// compare previous and new state and return result
return this->current == this->previous ? resting : altered;
}
void SimpleRigidBody::SetGravity( bool ignore)
{
this->ignoreGravity = ignore;
this->gravityNormal = Float3::null;
}
void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
}
void SimpleRigidBody::SetSubscription( bool subscribeCollision )
{
this->subscribeCollision = subscribeCollision;
}
void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepVelocity( localI );
}
void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
{
this->current.SetMomentOfInertia_KeepMomentum( localI );
}
void SimpleRigidBody::SetMass_KeepVelocity( Float m )
{
this->current.SetMass_KeepVelocity( m );
}
void SimpleRigidBody::SetMass_KeepMomentum( Float m )
{
this->current.SetMass_KeepMomentum( m );
}
void SimpleRigidBody::SetCenter( const Float3 &worldPos )
{
this->current.SetCenter( worldPos );
}
void SimpleRigidBody::SetRotation( const Float4x4 &rotation )
{
this->current.SetRotation( rotation );
}
void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
{
this->current.SetOrientation( orientation );
}
void SimpleRigidBody::SetSize( const Float3 &size )
{
this->current.SetSize( size );
}