152 lines
3.7 KiB
C++
152 lines
3.7 KiB
C++
#include "SimpleRigidBody.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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SimpleRigidBody::SimpleRigidBody()
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: previous(), current(),
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gravityNormal(0.0f),
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subscribeCollision(true),
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ignoreGravity(false) {}
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SimpleRigidBody::~SimpleRigidBody() {}
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UniquePointer<ICustomBody> SimpleRigidBody::Clone() const
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{
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return new SimpleRigidBody( *this );
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}
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bool SimpleRigidBody::IsSubscribingCollisions() const
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{ // Assumption
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return this->subscribeCollision;
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}
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bool SimpleRigidBody::IsAffectedByGravity() const
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{
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return !this->ignoreGravity;
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}
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bool SimpleRigidBody::Intersects( const ICustomBody &object, Float timeStepLength, Float &deltaWhen, Float3 &worldPointOfContact ) const
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{
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if( object.Intersects(this->current.box) )
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{ //! @todo TODO: better implementation needed
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deltaWhen = timeStepLength;
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worldPointOfContact = Average( this->current.box.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 SimpleRigidBody::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 & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
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{
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return targetMem = Sphere( this->current.box.center, this->current.box.boundingOffset.GetMagnitude() );
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}
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Float3 & SimpleRigidBody::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 & SimpleRigidBody::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 & SimpleRigidBody::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 & SimpleRigidBody::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 & SimpleRigidBody::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 & SimpleRigidBody::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 SimpleRigidBody::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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// compare previous and new state and return result
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return this->current == this->previous ? resting : altered;
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}
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void SimpleRigidBody::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 SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
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{
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this->gravityNormal = normalizedVector;
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}
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void SimpleRigidBody::SetSubscription( bool subscribeCollision )
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{
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this->subscribeCollision = subscribeCollision;
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}
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void SimpleRigidBody::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 SimpleRigidBody::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 SimpleRigidBody::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 SimpleRigidBody::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 SimpleRigidBody::SetCenter( const Float3 &worldPos )
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{
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this->current.SetCenter( worldPos );
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}
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void SimpleRigidBody::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 SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
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{
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this->current.SetOrientation( orientation );
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}
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void SimpleRigidBody::SetSize( const Float3 &size )
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{
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this->current.SetSize( size );
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} |