429 lines
13 KiB
C++
429 lines
13 KiB
C++
#include "PhysicsAPI_Impl.h"
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#include "OysterPhysics3D.h"
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#include "SimpleRigidBody.h"
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#include "SphericalRigidBody.h"
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using namespace ::Oyster;
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using namespace ::Oyster::Physics;
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using namespace ::Oyster::Math;
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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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API_Impl API_instance;
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namespace
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{
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void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef )
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{
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auto proto = worldScene.GetCustomBody( protoTempRef );
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auto deuter = worldScene.GetCustomBody( deuterTempRef );
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Float4 worldPointOfContact;
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if( proto->Intersects(*deuter, worldPointOfContact) )
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{
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// Apply CollisionResponse in pure gather pattern
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ICustomBody::State protoState; proto->GetState( protoState );
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ICustomBody::State deuterState; deuter->GetState( deuterState );
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// calc from perspective of deuter
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Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
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if( normal.Dot(normal) == 0.0f )
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{ // special case: deuter is completly contained within proto or they have overlapping centers.
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normal = Float4( protoState.GetCenterPosition() - deuterState.GetCenterPosition(), 0.0f );
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if( normal.Dot(normal) == 0.0f )
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{ // they have overlapping centers. Rebound at least
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// calculate and store time interpolation value, for later rebound.
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proto->SetTimeOfContact( worldPointOfContact );
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return;
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}
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// borrowing the negated normal of proto.
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proto->GetNormalAt( worldPointOfContact, normal );
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normal = -normal;
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}
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Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact.xyz ),
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deuterG = deuterState.GetLinearMomentum( worldPointOfContact.xyz );
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Float protoG_Magnitude = protoG.Dot( normal ),
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deuterG_Magnitude = deuterG.Dot( normal );
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// if they are not relatively moving towards eachother, there is no collision
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Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
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if( deltaPos < 0.0f )
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{
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if( protoG_Magnitude >= deuterG_Magnitude )
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{
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return;
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}
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}
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else if( deltaPos > 0.0f )
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{
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if( protoG_Magnitude <= deuterG_Magnitude )
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{
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return;
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}
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}
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else
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{
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return;
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}
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if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response )
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{
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return;
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}
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// calculate and store time interpolation value, for later rebound.
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proto->SetTimeOfContact( worldPointOfContact );
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// bounce
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Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
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deuterState.GetMass(), deuterG_Magnitude,
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protoState.GetMass(), protoG_Magnitude );
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// calc from perspective of proto
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proto->GetNormalAt( worldPointOfContact, normal );
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protoG_Magnitude = protoG.Dot( normal ),
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deuterG_Magnitude = deuterG.Dot( normal );
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// bounce
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Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
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protoState.GetMass(), protoG_Magnitude,
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deuterState.GetMass(), deuterG_Magnitude );
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Float4 bounce = Average( bounceD, bounceP );
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Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal,
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Float4(protoState.GetLinearMomentum(), 0), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
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Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
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Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
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protoState.ApplyImpulse( bounce.xyz - friction.xyz, worldPointOfContact.xyz, normal.xyz );
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proto->SetState( protoState );
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Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
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proto->CallSubscription_AfterCollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter );
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}
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}
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}
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API & API::Instance()
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{
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return API_instance;
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}
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API_Impl::API_Impl()
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{
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this->gravityConstant = Constant::gravity_constant;
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this->epsilon = Constant::epsilon;
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this->updateFrameLength = 1.0f / 120.0f;
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this->destructionAction = Default::EventAction_Destruction;
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this->gravity = ::std::vector<Gravity>();
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this->worldScene = Octree();
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}
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API_Impl::~API_Impl() {}
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void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
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{
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unsigned char numLayers = 4; //!< @todo TODO: calc numLayers from worldSize
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this->gravity.resize( 0 );
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this->gravity.reserve( numGravityWells );
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this->worldScene = Octree( numObjects, numLayers, worldSize );
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}
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void API_Impl::SetFrameTimeLength( float deltaTime )
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{
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this->updateFrameLength = deltaTime;
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}
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void API_Impl::SetGravityConstant( float g )
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{
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this->gravityConstant = g;
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}
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void API_Impl::SetEpsilon( float e )
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{
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this->epsilon = e;
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}
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void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer )
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{
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if( functionPointer )
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{
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this->destructionAction = functionPointer;
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}
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else
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{
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this->destructionAction = Default::EventAction_Destruction;
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}
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}
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float API_Impl::GetFrameTimeLength() const
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{
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return this->updateFrameLength;
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}
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void API_Impl::Update()
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{ /** @todo TODO: Update is a temporary solution .*/
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::std::vector<ICustomBody*> updateList;
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auto proto = this->worldScene.Sample( Universe(), updateList ).begin();
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ICustomBody::State state;
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for( ; proto != updateList.end(); ++proto )
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{
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// Step 1: Apply Gravity
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Float4 gravityImpulse = Float4::null;
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(*proto)->GetState( state );
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for( ::std::vector<Gravity>::size_type i = 0; i < this->gravity.size(); ++i )
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{
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switch( this->gravity[i].gravityType )
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{
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case Gravity::GravityType_Well:
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{
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Float4 d = Float4( this->gravity[i].well.position, 1.0f ) - Float4( state.GetCenterPosition(), 1.0f );
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Float rSquared = d.Dot( d );
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if( rSquared != 0.0 )
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{
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Float force = Physics3D::Formula::ForceField( this->gravityConstant, state.GetMass(), this->gravity[i].well.mass, rSquared );
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gravityImpulse += (this->updateFrameLength * force / ::std::sqrt(rSquared)) * d;
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}
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break;
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}
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case Gravity::GravityType_Directed:
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gravityImpulse += Float4( this->gravity[i].directed.impulse, 0.0f );
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break;
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// case Gravity::GravityType_DirectedField:
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// //this->gravity[i].directedField.
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// //! TODO: @todo rethink
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// break;
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default: break;
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}
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}
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if( gravityImpulse != Float4::null )
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{
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state.ApplyLinearImpulse( gravityImpulse.xyz );
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state.SetGravityNormal( gravityImpulse.GetNormalized().xyz );
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(*proto)->SetState( state );
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}
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// Step 2: Apply Collision Response
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this->worldScene.Visit( *proto, OnPossibleCollision );
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}
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proto = updateList.begin();
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for( ; proto != updateList.end(); ++proto )
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{
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(*proto)->GetState( state );
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Float3 lM = state.GetLinearMomentum();
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//LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp(state.SetOrientation(, Float4(state.GetGravityNormal(), 0.0f), 1.0f);
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if( abs(lM.x) < this->epsilon )
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{
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state.linearMomentum.x = 0;
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}
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if( abs(lM.y) < this->epsilon )
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{
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state.linearMomentum.y = 0;
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}
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if( abs(lM.z) < this->epsilon )
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{
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state.linearMomentum.z = 0;
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}
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(*proto)->SetState( state );
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switch( (*proto)->Update(this->updateFrameLength) )
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{
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case UpdateState_altered:
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this->worldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(*proto) );
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(*proto)->CallSubscription_Move();
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case UpdateState_resting:
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default:
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break;
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}
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}
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}
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bool API_Impl::IsInLimbo( const ICustomBody* objRef )
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{
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return this->worldScene.IsInLimbo( objRef );
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}
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void API_Impl::MoveToLimbo( const ICustomBody* objRef )
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{
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this->worldScene.MoveToLimbo( objRef );
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}
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void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
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{
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this->worldScene.ReleaseFromLimbo( objRef );
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}
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void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
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{
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this->worldScene.AddObject( handle );
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}
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UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
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{
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return this->worldScene.Extract( objRef );
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}
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void API_Impl::DestroyObject( const ICustomBody* objRef )
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{
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UniquePointer<ICustomBody> object = this->worldScene.Extract( objRef );
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if( object )
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{
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this->destructionAction( object );
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}
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}
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void API_Impl::AddGravity( const API::Gravity &g )
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{
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this->gravity.push_back( g );
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}
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void API_Impl::RemoveGravity( const API::Gravity &g )
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{
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for( ::std::vector<Gravity>::size_type i = this->gravity.size() - 1; i >= 0; --i )
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{
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if( g == this->gravity[i] )
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{
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int end = this->gravity.size() - 1;
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this->gravity[i] = this->gravity[end];
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this->gravity.resize( end );
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}
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}
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}
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void API_Impl::ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) )
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{
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this->worldScene.Visit(collideable, args, hitAction);
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}
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//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
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//{
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function
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// this->worldScene.SetAsAltered( tempRef );
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// }
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//}
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//
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//void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI )
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//{ // deprecated
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI );
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// }
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//}
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//
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//void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI )
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//{ // deprecated
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI );
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// }
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//}
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//
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//void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m )
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//{ // deprecated
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m );
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// }
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//}
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//
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//void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m )
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//{ // deprecated
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m );
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// }
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//}
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//
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//void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos )
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//{
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function
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// this->worldScene.EvaluatePosition( tempRef );
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// }
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//}
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//
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//void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation )
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//{
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation );
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// this->worldScene.EvaluatePosition( tempRef );
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// }
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//}
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//
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//void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation )
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//{
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation );
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// this->worldScene.EvaluatePosition( tempRef );
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// }
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//}
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//
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//void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
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//{
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// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
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// if( tempRef != this->worldScene.invalid_ref )
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// {
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// this->worldScene.GetCustomBody( tempRef )->SetSize( size );
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// this->worldScene.EvaluatePosition( tempRef );
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// }
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//}
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UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const
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{
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return new SimpleRigidBody( desc );
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}
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UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SphericalBodyDescription &desc ) const
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{
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return new SphericalRigidBody( desc );
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}
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namespace Oyster { namespace Physics
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{
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namespace Default
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{
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void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
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{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
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::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
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{ /* Do nothing except returning business as usual. */
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return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
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}
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void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
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{ /* Do nothing except returning business as usual. */
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}
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void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
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{ /* Do nothing. */ }
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}
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} } |