306 lines
9.6 KiB
C++
306 lines
9.6 KiB
C++
#include "PhysicsAPI_Impl.h"
|
|
#include "OysterPhysics3D.h"
|
|
#include "SimpleRigidBody.h"
|
|
#include "SphericalRigidBody.h"
|
|
|
|
using namespace ::Oyster::Physics;
|
|
using namespace ::Oyster::Math;
|
|
using namespace ::Oyster::Collision3D;
|
|
using namespace ::Utility::DynamicMemory;
|
|
using namespace ::Utility::Value;
|
|
|
|
API_Impl API_instance;
|
|
|
|
namespace
|
|
{
|
|
void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef )
|
|
{ /** @todo TODO: OnPossibleCollision is a temporary solution .*/
|
|
auto proto = worldScene.GetCustomBody( protoTempRef );
|
|
auto deuter = worldScene.GetCustomBody( deuterTempRef );
|
|
|
|
Float4 worldPointOfContact;
|
|
if( proto->Intersects(*deuter, worldPointOfContact) )
|
|
{
|
|
switch( proto->CallSubscription(proto, deuter) )
|
|
{
|
|
case ICustomBody::SubscriptMessage_ignore_collision_response:
|
|
break;
|
|
default:
|
|
{ // Apply CollisionResponse in pure gather pattern
|
|
ICustomBody::State protoState; proto->GetState( protoState );
|
|
ICustomBody::State deuterState; deuter->GetState( deuterState );
|
|
|
|
Float4 protoG = protoState.GetLinearMomentum( worldPointOfContact ),
|
|
deuterG = deuterState.GetLinearMomentum( worldPointOfContact );
|
|
|
|
// calc from perspective of deuter
|
|
Float4 normal; deuter->GetNormalAt( worldPointOfContact, normal );
|
|
Float protoG_Magnitude = protoG.Dot( normal ),
|
|
deuterG_Magnitude = deuterG.Dot( normal );
|
|
|
|
// bounce
|
|
Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
|
|
deuterState.GetMass(), deuterG_Magnitude,
|
|
protoState.GetMass(), protoG_Magnitude );
|
|
|
|
//sumJ -= Formula::CollisionResponse::Friction( impulse, normal,
|
|
// protoState.GetLinearMomentum(), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(),
|
|
// deuterState.GetLinearMomentum(), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
|
|
|
|
// calc from perspective of proto
|
|
proto->GetNormalAt( worldPointOfContact, normal );
|
|
protoG_Magnitude = protoG.Dot( normal ),
|
|
deuterG_Magnitude = deuterG.Dot( normal );
|
|
|
|
// bounce
|
|
Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
|
|
protoState.GetMass(), protoG_Magnitude,
|
|
deuterState.GetMass(), deuterG_Magnitude );
|
|
|
|
Float4 bounce = Average( bounceD, bounceP );
|
|
//Float4 bounce = bounceD + bounceP;
|
|
|
|
// FRICTION
|
|
// Apply
|
|
//sumJ += ( 1 / deuterState.GetMass() )*frictionImpulse;
|
|
// FRICTION END
|
|
|
|
Float4 forwardedDeltaPos, forwardedDeltaAxis;
|
|
{ // @todo TODO: is this right?
|
|
Float4 bounceAngularImpulse = ::Oyster::Math::Float4( (worldPointOfContact - protoState.GetCenterPosition()).xyz.Cross(bounce.xyz), 0.0f ),
|
|
bounceLinearImpulse = bounce - bounceAngularImpulse;
|
|
proto->Predict( forwardedDeltaPos, forwardedDeltaAxis, bounceLinearImpulse, bounceAngularImpulse, API_instance.GetFrameTimeLength() );
|
|
}
|
|
|
|
protoState.ApplyForwarding( forwardedDeltaPos, forwardedDeltaAxis );
|
|
|
|
/////// Dan below / Robin Above
|
|
|
|
protoState.ApplyImpulse( bounce, worldPointOfContact, normal );
|
|
proto->SetState( protoState );
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
API & API::Instance()
|
|
{
|
|
return API_instance;
|
|
}
|
|
|
|
API_Impl::API_Impl()
|
|
{
|
|
this->gravityConstant = Constant::gravity_constant;
|
|
this->updateFrameLength = 1.0f / 120.0f;
|
|
this->destructionAction = Default::EventAction_Destruction;
|
|
this->worldScene = Octree();
|
|
}
|
|
|
|
API_Impl::~API_Impl() {}
|
|
|
|
void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
|
|
{
|
|
unsigned char numLayers = 4; //!< @todo TODO: calc numLayers from worldSize
|
|
this->worldScene = Octree( numObjects, numLayers, worldSize );
|
|
}
|
|
|
|
void API_Impl::SetFrameTimeLength( float deltaTime )
|
|
{
|
|
this->updateFrameLength = deltaTime;
|
|
}
|
|
|
|
void API_Impl::SetGravityConstant( float g )
|
|
{
|
|
this->gravityConstant = g;
|
|
}
|
|
|
|
void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer )
|
|
{
|
|
if( functionPointer )
|
|
{
|
|
this->destructionAction = functionPointer;
|
|
}
|
|
else
|
|
{
|
|
this->destructionAction = Default::EventAction_Destruction;
|
|
}
|
|
}
|
|
|
|
float API_Impl::GetFrameTimeLength() const
|
|
{
|
|
return this->updateFrameLength;
|
|
}
|
|
|
|
void API_Impl::Update()
|
|
{ /** @todo TODO: Update is a temporary solution .*/
|
|
|
|
|
|
|
|
::std::vector<ICustomBody*> updateList;
|
|
auto proto = this->worldScene.Sample( Universe(), updateList ).begin();
|
|
for( ; proto != updateList.end(); ++proto )
|
|
{
|
|
// Step 1: @todo TODO: Apply Gravity
|
|
|
|
// Step 2: Apply Collision Response
|
|
this->worldScene.Visit( *proto, OnPossibleCollision );
|
|
}
|
|
|
|
proto = updateList.begin();
|
|
for( ; proto != updateList.end(); ++proto )
|
|
{
|
|
switch( (*proto)->Update(this->updateFrameLength) )
|
|
{
|
|
case UpdateState_altered:
|
|
this->worldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(*proto) );
|
|
case UpdateState_resting: default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool API_Impl::IsInLimbo( const ICustomBody* objRef )
|
|
{
|
|
//! @todo TODO: implement stub
|
|
return true;
|
|
}
|
|
|
|
void API_Impl::MoveToLimbo( const ICustomBody* objRef )
|
|
{
|
|
/** @todo TODO: Fix this function.*/
|
|
}
|
|
void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
|
|
{
|
|
/** @todo TODO: Fix this function.*/
|
|
}
|
|
|
|
void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
|
|
{
|
|
this->worldScene.AddObject( handle );
|
|
}
|
|
|
|
UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
|
|
{
|
|
return this->worldScene.Extract( objRef );
|
|
}
|
|
|
|
void API_Impl::DestroyObject( const ICustomBody* objRef )
|
|
{
|
|
UniquePointer<ICustomBody> object = this->worldScene.Extract( objRef );
|
|
if( object )
|
|
{
|
|
this->destructionAction( object );
|
|
}
|
|
}
|
|
|
|
//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
|
|
//{
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function
|
|
// this->worldScene.SetAsAltered( tempRef );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI )
|
|
//{ // deprecated
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI )
|
|
//{ // deprecated
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m )
|
|
//{ // deprecated
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m )
|
|
//{ // deprecated
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos )
|
|
//{
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function
|
|
// this->worldScene.EvaluatePosition( tempRef );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation )
|
|
//{
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation );
|
|
// this->worldScene.EvaluatePosition( tempRef );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation )
|
|
//{
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation );
|
|
// this->worldScene.EvaluatePosition( tempRef );
|
|
// }
|
|
//}
|
|
//
|
|
//void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
|
|
//{
|
|
// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
|
|
// if( tempRef != this->worldScene.invalid_ref )
|
|
// {
|
|
// this->worldScene.GetCustomBody( tempRef )->SetSize( size );
|
|
// this->worldScene.EvaluatePosition( tempRef );
|
|
// }
|
|
//}
|
|
|
|
UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const
|
|
{
|
|
return new SimpleRigidBody( desc );
|
|
}
|
|
|
|
UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SphericalBodyDescription &desc ) const
|
|
{
|
|
return new SphericalRigidBody( desc );
|
|
}
|
|
|
|
namespace Oyster { namespace Physics
|
|
{
|
|
namespace Default
|
|
{
|
|
void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
|
|
{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
|
|
|
|
::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_Collision( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
|
|
{ /* Do nothing except returning business as usual. */
|
|
return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
|
|
}
|
|
}
|
|
} } |