347 lines
9.5 KiB
C++
347 lines
9.5 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::Physics3D;
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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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{
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this->collisionShape = NULL;
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this->motionState = NULL;
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this->rigidBody = NULL;
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this->state.centerPos = Float3(0.0f, 0.0f, 0.0f);
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this->state.quaternion = Quaternion(Float3(0.0f, 0.0f, 0.0f), 1.0f);
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this->state.dynamicFrictionCoeff = 0.0f;
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this->state.staticFrictionCoeff = 0.0f;
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this->state.mass = 0.0f;
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this->state.restitutionCoeff = 0.0f;
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this->state.reach = Float3(0.0f, 0.0f, 0.0f);
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this->afterCollision = NULL;
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this->onMovement = NULL;
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this->customTag = nullptr;
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}
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SimpleRigidBody::~SimpleRigidBody()
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{
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delete this->motionState;
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this->motionState = NULL;
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delete this->collisionShape;
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this->collisionShape = NULL;
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delete this->rigidBody;
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this->rigidBody = NULL;
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}
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SimpleRigidBody::State SimpleRigidBody::GetState() const
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{
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return this->state;
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}
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SimpleRigidBody::State& SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
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{
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targetMem = this->state;
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return targetMem;
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}
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void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
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{
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btTransform trans;
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btVector3 position(state.centerPos.x, state.centerPos.y, state.centerPos.z);
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btQuaternion quaternion(state.quaternion.imaginary.x, state.quaternion.imaginary.y, state.quaternion.imaginary.z, state.quaternion.real);
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this->motionState->getWorldTransform(trans);
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trans.setRotation(quaternion);
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trans.setOrigin(position);
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this->motionState->setWorldTransform(trans);
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this->rigidBody->setFriction(state.staticFrictionCoeff);
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this->rigidBody->setRestitution(state.restitutionCoeff);
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btVector3 fallInertia(0, 0, 0);
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collisionShape->calculateLocalInertia(state.mass, fallInertia);
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this->rigidBody->setMassProps(state.mass, fallInertia);
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this->state = state;
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}
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void SimpleRigidBody::ApplyImpulse(Float3 impulse)
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{
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this->rigidBody->applyImpulse(btVector3(impulse.x, impulse.y, impulse.z), btVector3(0.0f, 0.0f, 0.0f));
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}
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void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape)
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{
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this->collisionShape = shape;
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}
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void SimpleRigidBody::SetMotionState(btDefaultMotionState* motionState)
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{
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this->motionState = motionState;
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}
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void SimpleRigidBody::SetRigidBody(btRigidBody* rigidBody)
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{
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this->rigidBody = rigidBody;
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}
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void SimpleRigidBody::SetSubscription(EventAction_AfterCollisionResponse function)
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{
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this->afterCollision = function;
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}
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void SimpleRigidBody::SetSubscription(EventAction_Move function)
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{
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this->onMovement = function;
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}
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void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
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{
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this->rigidBody->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
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}
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void SimpleRigidBody::SetPosition(::Oyster::Math::Float3 position)
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{
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btTransform trans;
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trans = this->rigidBody->getWorldTransform();
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trans.setOrigin(btVector3(position.x, position.y, position.z));
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this->rigidBody->setWorldTransform(trans);
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this->state.centerPos = position;
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}
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void SimpleRigidBody::SetRotation(Float4 quaternion)
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{
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btTransform trans;
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trans = this->rigidBody->getWorldTransform();
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trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
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this->rigidBody->setWorldTransform(trans);
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this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
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}
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void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
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{
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btTransform trans;
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trans = this->rigidBody->getWorldTransform();
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trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
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this->rigidBody->setWorldTransform(trans);
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this->state.quaternion = quaternion;
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}
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void SimpleRigidBody::SetRotation(Float3 eulerAngles)
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{
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btTransform trans;
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trans = this->rigidBody->getWorldTransform();
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trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
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this->rigidBody->setWorldTransform(trans);
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this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
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}
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void SimpleRigidBody::SetRotation(::Oyster::Math::Float4x4 rotation)
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{
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btTransform trans;
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btMatrix3x3 newRotation;
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btVector3 rightVector(rotation.v[0].x, rotation.v[0].y, rotation.v[0].z);
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btVector3 upVector(rotation.v[1].x, rotation.v[1].y, rotation.v[1].z);
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btVector3 forwardVector(rotation.v[2].x, rotation.v[2].y, rotation.v[2].z);
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newRotation[0] = rightVector;
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newRotation[1] = upVector;
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newRotation[2] = forwardVector;
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trans = this->rigidBody->getWorldTransform();
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trans.setBasis(newRotation);
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this->rigidBody->setWorldTransform(trans);
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btQuaternion quaternion;
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quaternion = trans.getRotation();
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this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
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}
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void SimpleRigidBody::SetRotationAsAngularAxis(::Oyster::Math::Float4 angularAxis)
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{
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if(angularAxis.xyz.GetMagnitude() == 0)
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{
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return;
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}
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btTransform trans;
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btVector3 vector(angularAxis.x, angularAxis.y, angularAxis.z);
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btQuaternion quaternion(vector, angularAxis.w);
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trans = this->rigidBody->getWorldTransform();
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trans.setRotation(quaternion);
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this->rigidBody->setWorldTransform(trans);
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this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
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}
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void SimpleRigidBody::SetAngularFactor(Float factor)
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{
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this->rigidBody->setAngularFactor(factor);
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}
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void SimpleRigidBody::SetMass(Float mass)
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{
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btVector3 fallInertia(0, 0, 0);
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collisionShape->calculateLocalInertia(mass, fallInertia);
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this->rigidBody->setMassProps(mass, fallInertia);
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this->state.mass = mass;
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}
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void SimpleRigidBody::SetGravity(Float3 gravity)
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{
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this->rigidBody->setGravity(btVector3(gravity.x, gravity.y, gravity.z));
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this->gravity = gravity;
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}
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void SimpleRigidBody::SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right)
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{
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btTransform trans;
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btMatrix3x3 rotation;
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btVector3 upVector(up.x, up.y, up.z);
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btVector3 rightVector(right.x, right.y, right.z);
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rotation[1] = upVector.normalized();
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rotation[0] = rightVector.normalized();
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rotation[2] = rightVector.cross(upVector).normalized();
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trans = this->rigidBody->getWorldTransform();
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trans.setBasis(rotation);
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this->rigidBody->setWorldTransform(trans);
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btQuaternion quaternion;
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quaternion = trans.getRotation();
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this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
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}
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void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward)
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{
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btTransform trans;
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btMatrix3x3 rotation;
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btVector3 upVector(up.x, up.y, up.z);
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btVector3 forwardVector(forward.x, forward.y, forward.z);
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rotation[1] = upVector.normalized();
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rotation[2] = forwardVector.normalized();
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rotation[0] = upVector.cross(forwardVector).normalized();
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trans = this->rigidBody->getWorldTransform();
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trans.setBasis(rotation);
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this->rigidBody->setWorldTransform(trans);
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btQuaternion quaternion;
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quaternion = trans.getRotation();
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this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
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}
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void SimpleRigidBody::SetUp(::Oyster::Math::Float3 up)
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{
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Float3 vector = Float3(0, 1, 0).Cross(up);
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if(vector == Float3::null)
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{
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return;
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}
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Float sine = vector.GetLength();
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Float cosine = acos(Float3(0, 1, 0).Dot(up));
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btQuaternion quaternion(btVector3(vector.x, vector.y, vector.z),cosine);
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btTransform trans;
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trans = this->rigidBody->getWorldTransform();
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trans.setRotation(quaternion);
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this->rigidBody->setWorldTransform(trans);
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this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
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}
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Float4x4 SimpleRigidBody::GetRotation() const
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{
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return this->state.GetRotation();
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}
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Float4 SimpleRigidBody::GetRotationAsAngularAxis()
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{
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Float4 axis = Float4::null;
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Float s = sqrtf(1 - this->state.quaternion.real*this->state.quaternion.real);
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axis.w = 2*acos(this->state.quaternion.real*this->state.quaternion.real);
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if(1 - this->state.quaternion.real > 0.001f)
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{
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axis.x = this->state.quaternion.imaginary.x/s;
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axis.y = this->state.quaternion.imaginary.y/s;
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axis.z = this->state.quaternion.imaginary.z/s;
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}
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else
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{
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axis.x = this->state.quaternion.imaginary.x;
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axis.y = this->state.quaternion.imaginary.y;
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axis.z = this->state.quaternion.imaginary.z;
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}
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return axis;
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}
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Float4x4 SimpleRigidBody::GetOrientation() const
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{
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return this->state.GetOrientation();
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}
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Float4x4 SimpleRigidBody::GetView() const
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{
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return this->state.GetView();
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}
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Float4x4 SimpleRigidBody::GetView( const ::Oyster::Math::Float3 &offset ) const
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{
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return this->state.GetView(offset);
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}
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Float3 SimpleRigidBody::GetGravity() const
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{
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return this->rigidBody->getGravity();
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}
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Float3 SimpleRigidBody::GetLinearVelocity() const
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{
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return this->rigidBody->getLinearVelocity();
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}
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void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
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{
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if(this->afterCollision)
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this->afterCollision(bodyA, bodyB, kineticEnergyLoss);
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}
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void SimpleRigidBody::CallSubscription_Move()
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{
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if(this->onMovement)
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this->onMovement(this);
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}
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btCollisionShape* SimpleRigidBody::GetCollisionShape() const
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{
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return this->collisionShape;
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}
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btDefaultMotionState* SimpleRigidBody::GetMotionState() const
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{
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return this->motionState;
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}
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btRigidBody* SimpleRigidBody::GetRigidBody() const
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{
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return this->rigidBody;
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}
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void * SimpleRigidBody::GetCustomTag() const
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{
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return this->customTag;
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}
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void SimpleRigidBody::SetCustomTag( void *ref )
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{
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this->customTag = ref;
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} |