217 lines
8.2 KiB
C++
217 lines
8.2 KiB
C++
#ifndef PHYSICS_STRUCTS_H
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#define PHYSICS_STRUCTS_H
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#include "OysterMath.h"
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#include "PhysicsAPI.h"
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#include "Inertia.h"
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namespace Oyster { namespace Physics
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{
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namespace Struct
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{
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struct SimpleBodyDescription
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{
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::Oyster::Math::Float3 rotation;
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::Oyster::Math::Float3 centerPosition;
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::Oyster::Math::Float3 size;
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::Oyster::Math::Float mass;
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::Oyster::Math::Float restitutionCoeff;
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::Oyster::Math::Float frictionCoeff_Static;
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::Oyster::Math::Float frictionCoeff_Dynamic;
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::Oyster::Physics3D::MomentOfInertia inertiaTensor;
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::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
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::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
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::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
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bool ignoreGravity;
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SimpleBodyDescription();
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};
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struct SphericalBodyDescription
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{
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::Oyster::Math::Float3 rotation;
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::Oyster::Math::Float3 centerPosition;
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::Oyster::Math::Float radius;
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::Oyster::Math::Float mass;
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::Oyster::Math::Float restitutionCoeff;
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::Oyster::Math::Float frictionCoeff_Static;
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::Oyster::Math::Float frictionCoeff_Dynamic;
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::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
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::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
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::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
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bool ignoreGravity;
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SphericalBodyDescription();
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};
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struct CustomBodyState
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{
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public:
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CustomBodyState( ::Oyster::Math::Float mass = 1.0f,
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::Oyster::Math::Float restitutionCoeff = 1.0f,
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::Oyster::Math::Float staticFrictionCoeff = 1.0f,
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::Oyster::Math::Float kineticFrictionCoeff = 1.0f,
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const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(),
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const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null,
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const ::Oyster::Math::Float3 ¢erPos = ::Oyster::Math::Float3::null,
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const ::Oyster::Math::Float3 &rotation = ::Oyster::Math::Float3::null,
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const ::Oyster::Math::Float3 &linearMomentum = ::Oyster::Math::Float3::null,
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const ::Oyster::Math::Float3 &angularMomentum = ::Oyster::Math::Float3::null,
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const ::Oyster::Math::Float3 &gravityNormal = ::Oyster::Math::Float3::null);
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CustomBodyState & operator = ( const CustomBodyState &state );
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const ::Oyster::Math::Float GetMass() const;
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const ::Oyster::Math::Float GetRestitutionCoeff() const;
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const ::Oyster::Math::Float GetFrictionCoeff_Static() const;
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const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const;
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const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
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const ::Oyster::Math::Float3 & GetReach() const;
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::Oyster::Math::Float3 GetSize() const;
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const ::Oyster::Math::Float3 & GetCenterPosition() const;
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const ::Oyster::Math::Float3 & GetAngularAxis() const;
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::Oyster::Math::Float4x4 GetRotation() const;
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::Oyster::Math::Float4x4 GetOrientation() const;
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::Oyster::Math::Float4x4 GetOrientation( const ::Oyster::Math::Float3 &offset ) const;
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::Oyster::Math::Float4x4 GetView() const;
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::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
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const ::Oyster::Math::Float3 & GetLinearMomentum() const;
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::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const;
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const ::Oyster::Math::Float3 & GetAngularMomentum() const;
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const ::Oyster::Math::Float3 & GetLinearImpulse() const;
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const ::Oyster::Math::Float3 & GetAngularImpulse() const;
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const ::Oyster::Math::Float3 & GetForward_DeltaPos() const;
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const ::Oyster::Math::Float3 & GetForward_DeltaAxis() const;
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const ::Oyster::Math::Float3 & GetGravityNormal() const;
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void SetMass_KeepMomentum( ::Oyster::Math::Float m );
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void SetMass_KeepVelocity( ::Oyster::Math::Float m );
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void SetRestitutionCoeff( ::Oyster::Math::Float e );
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void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
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void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor );
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void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor );
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void SetSize( const ::Oyster::Math::Float3 &size );
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void SetReach( const ::Oyster::Math::Float3 &halfSize );
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void SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos );
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void SetRotation( const ::Oyster::Math::Float3 &angularAxis );
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//void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
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//void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
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void SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation );
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void SetLinearMomentum( const ::Oyster::Math::Float3 &g );
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void SetAngularMomentum( const ::Oyster::Math::Float3 &h );
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void SetLinearImpulse( const ::Oyster::Math::Float3 &j );
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void SetAngularImpulse( const ::Oyster::Math::Float3 &j );
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void SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal );
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void AddRotation( const ::Oyster::Math::Float3 &angularAxis );
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void AddTranslation( const ::Oyster::Math::Float3 &deltaPos );
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void ApplyLinearImpulse( const ::Oyster::Math::Float3 &j );
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void ApplyAngularImpulse( const ::Oyster::Math::Float3 &j );
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void ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal );
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void ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
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bool IsSpatiallyAltered() const;
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bool IsDisturbed() const;
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bool IsForwarded() const;
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::Oyster::Math::Float3 linearMomentum;
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private:
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::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
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::Oyster::Physics3D::MomentOfInertia inertiaTensor;
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::Oyster::Math::Float3 reach, centerPos, angularAxis;
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::Oyster::Math::Float3 angularMomentum;
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::Oyster::Math::Float3 linearImpulse, angularImpulse;
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::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum
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::Oyster::Math::Float3 gravityNormal;
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bool isSpatiallyAltered, isDisturbed, isForwarded;
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};
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/**
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###############################################################################
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Can't define structs inside structs in a union therefor they are declared here.
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###############################################################################
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*/
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struct GravityWell
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{
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::Oyster::Math::Float3 position;
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::Oyster::Math::Float mass;
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GravityWell( );
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GravityWell( const GravityWell &gravityWell );
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GravityWell & operator = ( const GravityWell &gravityWell );
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bool operator == ( const GravityWell &gravity ) const;
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bool operator != ( const GravityWell &gravity ) const;
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};
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struct GravityDirected
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{
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::Oyster::Math::Float3 impulse;
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GravityDirected( );
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GravityDirected( const GravityDirected &gravityDirected );
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GravityDirected & operator = ( const GravityDirected &gravityDirected );
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bool operator == ( const GravityDirected &gravity ) const;
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bool operator != ( const GravityDirected &gravity ) const;
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};
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struct GravityDirectedField
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{
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::Oyster::Math::Float3 normalizedDirection;
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::Oyster::Math::Float mass;
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::Oyster::Math::Float magnitude;
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GravityDirectedField( );
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GravityDirectedField( const GravityDirectedField &gravityDirectedField );
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GravityDirectedField & operator = ( const GravityDirectedField &gravityDirectedField );
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bool operator == ( const GravityDirectedField &gravity ) const;
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bool operator != ( const GravityDirectedField &gravity ) const;
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};
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struct Gravity
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{
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enum GravityType
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{
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GravityType_Undefined = -1,
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GravityType_Well = 0,
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GravityType_Directed = 1,
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GravityType_DirectedField = 2,
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} gravityType;
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union
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{
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struct
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{
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GravityWell well;
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};
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struct
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{
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GravityDirected directed;
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};
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struct
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{
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GravityDirectedField directedField;
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};
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};
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Gravity( );
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Gravity( const Gravity &gravity );
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Gravity & operator = ( const Gravity &gravity );
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bool operator == ( const Gravity &gravity ) const;
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bool operator != ( const Gravity &gravity ) const;
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};
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}
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} }
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#include "PhysicsStructs-Impl.h"
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#endif |