159 lines
4.1 KiB
C++
159 lines
4.1 KiB
C++
#include "SphericalRigidBody.h"
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#include "PhysicsAPI_Impl.h"
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using namespace ::Oyster::Physics;
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using namespace ::Oyster::Math3D;
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using namespace ::Oyster::Collision3D;
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using namespace ::Utility::DynamicMemory;
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using namespace ::Utility::Value;
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SphericalRigidBody::SphericalRigidBody()
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: previous(), current( Box(Float4x4::identity, Float3::null, Float3(1.0f)) ),
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gravityNormal( 0.0f ),
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collisionAction(Default::EventAction_Collision),
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ignoreGravity( false ),
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body( Float3::null, 0.5f ) {}
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SphericalRigidBody::~SphericalRigidBody() {}
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UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
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{
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return new SphericalRigidBody( *this );
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}
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bool SphericalRigidBody::IsAffectedByGravity() const
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{
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return !this->ignoreGravity;
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}
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bool SphericalRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
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{
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if( object.Intersects(this->body) )
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{ //! @todo TODO: better implementation needed
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deltaWhen = timeStepLength;
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worldPointOfContact = Average( this->body.center, object.GetCenter() );
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return true;
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}
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else
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{
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return false;
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}
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}
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bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
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{
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return this->current.box.Intersects( shape );
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}
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Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
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{
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return targetMem = this->body;
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}
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Float3 & SphericalRigidBody::GetNormalAt( const Float3 &worldPos, Float3 &targetMem ) const
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{
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//! @todo TODO: better implementation needed
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return targetMem = (worldPos - this->current.box.center).GetNormalized();
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}
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Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
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{
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return targetMem = this->gravityNormal;
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}
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Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
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{
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return targetMem = this->current.box.center;
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}
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Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
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{
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return targetMem = this->current.box.rotation;
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}
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Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
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{
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return targetMem = this->current.GetOrientation();
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}
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Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
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{
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return targetMem = this->current.GetView();
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}
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UpdateState SphericalRigidBody::Update( Float timeStepLength )
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{
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this->previous = this->current; // memorizing the old state
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this->current.Update_LeapFrog( timeStepLength );
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this->body.center = this->current.GetCenter();
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// compare previous and new state and return result
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return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
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}
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void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
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{
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if( functionPointer )
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{
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this->collisionAction = functionPointer;
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}
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else
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{
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this->collisionAction = Default::EventAction_Collision;
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}
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}
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void SphericalRigidBody::SetGravity( bool ignore)
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{
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this->ignoreGravity = ignore;
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this->gravityNormal = Float3::null;
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}
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void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
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{
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this->gravityNormal = normalizedVector;
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}
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void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
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{
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this->current.SetMomentOfInertia_KeepVelocity( localI );
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}
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void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
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{
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this->current.SetMomentOfInertia_KeepMomentum( localI );
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}
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void SphericalRigidBody::SetMass_KeepVelocity( Float m )
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{
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this->current.SetMass_KeepVelocity( m );
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}
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void SphericalRigidBody::SetMass_KeepMomentum( Float m )
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{
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this->current.SetMass_KeepMomentum( m );
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}
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void SphericalRigidBody::SetCenter( const Float3 &worldPos )
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{
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this->current.SetCenter( worldPos );
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this->body.center = worldPos;
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}
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void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
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{
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this->current.SetRotation( rotation );
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}
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void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
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{
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this->current.SetOrientation( orientation );
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this->body.center = orientation.v[3].xyz;
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}
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void SphericalRigidBody::SetSize( const Float3 &size )
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{
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this->current.SetSize( size );
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this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
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} |