Danbias/Code/GamePhysics/Implementation/SphericalRigidBody.cpp

345 lines
9.7 KiB
C++

#include "SphericalRigidBody.h"
#include "PhysicsAPI_Impl.h"
using namespace ::Oyster::Physics;
using namespace ::Oyster::Physics3D;
using namespace ::Oyster::Math3D;
using namespace ::Oyster::Collision3D;
using namespace ::Utility::DynamicMemory;
using namespace ::Utility::Value;
SphericalRigidBody::SphericalRigidBody()
{
this->rigid = RigidBody();
this->rigid.SetMass_KeepMomentum( 10.0f );
this->gravityNormal = Float3::null;
this->onCollision = Default::EventAction_Collision;
this->onCollisionResponse = Default::EventAction_CollisionResponse;
this->onMovement = Default::EventAction_Move;
this->scene = nullptr;
this->customTag = nullptr;
this->ignoreGravity = this->isForwarded = false;
}
SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
{
this->rigid = RigidBody();
//this->rigid.SetRotation( desc.rotation );
this->rigid.centerPos = desc.centerPosition;
this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
this->rigid.SetMass_KeepMomentum( desc.mass );
this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
this->gravityNormal = Float3::null;
if( desc.subscription_onCollision )
{
this->onCollision = desc.subscription_onCollision;
}
else
{
this->onCollision = Default::EventAction_Collision;
}
if( desc.subscription_onCollisionResponse )
{
this->onCollisionResponse = desc.subscription_onCollisionResponse;
}
else
{
this->onCollisionResponse = Default::EventAction_CollisionResponse;
}
if( desc.subscription_onMovement )
{
this->onMovement= desc.subscription_onMovement;
}
else
{
this->onMovement = Default::EventAction_Move;
}
this->scene = nullptr;
this->customTag = nullptr;
this->ignoreGravity = desc.ignoreGravity;
}
SphericalRigidBody::~SphericalRigidBody() {}
UniquePointer<ICustomBody> SphericalRigidBody::Clone() const
{
return new SphericalRigidBody( *this );
}
SphericalRigidBody::State SphericalRigidBody::GetState() const
{
return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
this->rigid.centerPos, this->rigid.axis,
this->rigid.momentum_Linear, this->rigid.momentum_Angular );
}
SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
{
return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
this->rigid.centerPos, this->rigid.axis,
this->rigid.momentum_Linear, this->rigid.momentum_Angular );
}
void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
{
this->rigid.centerPos = state.GetCenterPosition();
//this->rigid.SetRotation( state.GetRotation() ); //! HACK: @todo Rotation temporary disabled
this->rigid.boundingReach = state.GetReach();
this->rigid.momentum_Linear = state.GetLinearMomentum();
this->rigid.momentum_Angular = state.GetAngularMomentum();
this->rigid.impulse_Linear += state.GetLinearImpulse();
this->rigid.impulse_Angular += state.GetAngularImpulse();
this->rigid.restitutionCoeff = state.GetRestitutionCoeff();
this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static();
this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
this->rigid.SetMass_KeepMomentum( state.GetMass() );
this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() );
if( state.IsForwarded() )
{
this->deltaPos += Float4(state.GetForward_DeltaPos(), 0);
this->deltaAxis += Float4(state.GetForward_DeltaAxis());
this->isForwarded = false;
}
if( this->scene )
{
if( state.IsSpatiallyAltered() )
{
unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this );
this->scene->SetAsAltered( tempRef );
this->scene->EvaluatePosition( tempRef );
}
else if( state.IsDisturbed() )
{
this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) );
}
}
}
ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_Collision( const ICustomBody *deuter )
{
return this->onCollision( this, deuter );
}
void SphericalRigidBody::CallSubscription_CollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
{
this->onCollisionResponse( this, deuter, kineticEnergyLoss);
}
void SphericalRigidBody::CallSubscription_Move()
{
this->onMovement( this );
}
bool SphericalRigidBody::IsAffectedByGravity() const
{
return !this->ignoreGravity;
}
bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
{
return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape );
}
bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const
{
return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape, worldPointOfContact );
}
bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const
{
return object.Intersects( Sphere(this->rigid.centerPos, this->rigid.boundingReach.x), worldPointOfContact );
}
Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
{
return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
}
Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{
targetMem = worldPos.xyz - this->rigid.centerPos;
Float magnitude = targetMem.GetMagnitude();
if( magnitude != 0.0f )
{ // sanity check
targetMem.Normalize();
}
return targetMem;
}
Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
{
return targetMem = this->gravityNormal;
}
void * SphericalRigidBody::GetCustomTag() const
{
return this->customTag;
}
//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
//{
// return targetMem = this->rigid.centerPos;
//}
//
//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
//{
// return targetMem = this->rigid.box.rotation;
//}
//
//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
//{
// return targetMem = this->rigid.GetOrientation();
//}
//
//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
//{
// return targetMem = this->rigid.GetView();
//}
//Float3 SphericalRigidBody::GetRigidLinearVelocity() const
//{
// return this->rigid.GetLinearVelocity();
//}
UpdateState SphericalRigidBody::Update( Float timeStepLength )
{
if( this->isForwarded )
{
this->rigid.Move( this->deltaPos.xyz, this->deltaAxis.xyz );
this->deltaPos = Float4::null;
this->deltaAxis = Float4::null;
this->isForwarded = false;
}
this->rigid.Update_LeapFrog( timeStepLength );
// compare previous and new state and return result
//return this->current == this->previous ? UpdateState_resting : UpdateState_altered;
return UpdateState_altered;
}
void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime )
{
this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Collision functionPointer )
{
if( functionPointer )
{
this->onCollision = functionPointer;
}
else
{
this->onCollision = Default::EventAction_Collision;
}
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_CollisionResponse functionPointer )
{
if( functionPointer )
{
this->onCollisionResponse = functionPointer;
}
else
{
this->onCollisionResponse = Default::EventAction_CollisionResponse;
}
}
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer )
{
if( functionPointer )
{
this->onMovement = functionPointer;
}
else
{
this->onMovement = Default::EventAction_Move;
}
}
void SphericalRigidBody::SetScene( void *scene )
{
this->scene = (Octree*)scene;
}
void SphericalRigidBody::SetGravity( bool ignore )
{
this->ignoreGravity = ignore;
this->gravityNormal = Float3::null;
}
void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
{
this->gravityNormal = normalizedVector;
}
void SphericalRigidBody::SetCustomTag( void *ref )
{
this->customTag = ref;
}
//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
//{
// this->rigid.SetMomentOfInertia_KeepVelocity( localI );
//}
//
//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
//{
// this->rigid.SetMomentOfInertia_KeepMomentum( localI );
//}
//
//void SphericalRigidBody::SetMass_KeepVelocity( Float m )
//{
// this->rigid.SetMass_KeepVelocity( m );
//}
//
//void SphericalRigidBody::SetMass_KeepMomentum( Float m )
//{
// this->rigid.SetMass_KeepMomentum( m );
//}
//
//void SphericalRigidBody::SetCenter( const Float3 &worldPos )
//{
// this->rigid.SetCenter( worldPos );
// this->body.center = worldPos;
//}
//
//void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
//{
// this->rigid.SetRotation( rotation );
//}
//
//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
//{
// this->rigid.SetOrientation( orientation );
// this->body.center = orientation.v[3].xyz;
//}
//
//void SphericalRigidBody::SetSize( const Float3 &size )
//{
// this->rigid.SetSize( size );
// this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
//}
//
//void SphericalRigidBody::SetMomentum( const Float3 &worldG )
//{
// this->rigid.SetLinearMomentum( worldG );
//}