409 lines
13 KiB
C++
409 lines
13 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( 16.0f );
|
|
this->gravityNormal = Float3::null;
|
|
this->onCollision = Default::EventAction_BeforeCollisionResponse;
|
|
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
|
|
this->onMovement = Default::EventAction_Move;
|
|
|
|
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
|
|
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
|
|
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
|
|
this->collisionRebound.timeOfContact = 1.0f;
|
|
|
|
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.restitutionCoeff = desc.restitutionCoeff;
|
|
this->rigid.frictionCoeff_Static = desc.frictionCoeff_Static;
|
|
this->rigid.frictionCoeff_Kinetic = desc.frictionCoeff_Dynamic;
|
|
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;
|
|
|
|
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
|
|
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
|
|
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
|
|
this->collisionRebound.timeOfContact = 1.0f;
|
|
|
|
if( desc.subscription_onCollision )
|
|
{
|
|
this->onCollision = desc.subscription_onCollision;
|
|
}
|
|
else
|
|
{
|
|
this->onCollision = Default::EventAction_BeforeCollisionResponse;
|
|
}
|
|
|
|
if( desc.subscription_onCollisionResponse )
|
|
{
|
|
this->onCollisionResponse = desc.subscription_onCollisionResponse;
|
|
}
|
|
else
|
|
{
|
|
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
|
|
}
|
|
|
|
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;
|
|
|
|
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
|
|
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
|
|
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
|
|
this->collisionRebound.timeOfContact = 1.0f;
|
|
}
|
|
|
|
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,
|
|
this->gravityNormal );
|
|
}
|
|
|
|
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,
|
|
this->gravityNormal );
|
|
}
|
|
|
|
void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
|
|
{
|
|
this->rigid.centerPos = state.GetCenterPosition();
|
|
this->rigid.axis = state.GetAngularAxis();
|
|
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() );
|
|
this->rigid.gravityNormal = state.GetGravityNormal();
|
|
|
|
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_BeforeCollisionResponse( const ICustomBody *deuter )
|
|
{
|
|
return this->onCollision( this, deuter );
|
|
}
|
|
|
|
void SphericalRigidBody::CallSubscription_AfterCollisionResponse( 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 );
|
|
}
|
|
|
|
void SphericalRigidBody::SetTimeOfContact( Float4 &worldPointOfContact )
|
|
{
|
|
Point pointOfContact = Point( worldPointOfContact );
|
|
Sphere start = Sphere( this->collisionRebound.previousSpatial.center, this->collisionRebound.previousSpatial.reach.x );
|
|
Sphere end = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
|
|
|
|
Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact );
|
|
|
|
this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact );
|
|
}
|
|
|
|
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 = Float4( worldPos.xyz - this->rigid.centerPos, 0);
|
|
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->collisionRebound.timeOfContact < 1.0f )
|
|
{ // Rebound if needed
|
|
this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
|
|
this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
|
|
this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
|
|
timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
|
|
this->collisionRebound.timeOfContact = 1.0f;
|
|
}
|
|
|
|
// Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
|
|
Float4 temp;
|
|
::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
|
|
this->rigid.axis -= ((2.0f * pi) * temp).xyz;
|
|
|
|
// Update rebound data
|
|
this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
|
|
this->collisionRebound.previousSpatial.axis = this->rigid.axis;
|
|
this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
|
|
|
|
// Check if this is close enough to be set resting
|
|
temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
|
|
if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )
|
|
{
|
|
unsigned char resting = 0;
|
|
if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
|
|
{
|
|
this->rigid.momentum_Linear = Float3::null;
|
|
resting = 1;
|
|
}
|
|
if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) )
|
|
{
|
|
this->rigid.momentum_Angular = Float3::null;
|
|
++resting;
|
|
}
|
|
if( resting == 2 )
|
|
{
|
|
this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null;
|
|
return UpdateState_resting;
|
|
}
|
|
}
|
|
|
|
this->rigid.Update_LeapFrog( timeStepLength );
|
|
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::SetScene( void *scene )
|
|
{
|
|
this->scene = (Octree*)scene;
|
|
}
|
|
|
|
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
|
|
{
|
|
if( functionPointer )
|
|
{
|
|
this->onCollision = functionPointer;
|
|
}
|
|
else
|
|
{
|
|
this->onCollision = Default::EventAction_BeforeCollisionResponse;
|
|
}
|
|
}
|
|
|
|
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
|
|
{
|
|
if( functionPointer )
|
|
{
|
|
this->onCollisionResponse = functionPointer;
|
|
}
|
|
else
|
|
{
|
|
this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
|
|
}
|
|
}
|
|
|
|
void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer )
|
|
{
|
|
if( functionPointer )
|
|
{
|
|
this->onMovement = functionPointer;
|
|
}
|
|
else
|
|
{
|
|
this->onMovement = Default::EventAction_Move;
|
|
}
|
|
}
|
|
|
|
void SphericalRigidBody::SetGravity( bool ignore )
|
|
{
|
|
this->ignoreGravity = ignore;
|
|
this->gravityNormal = Float3::null;
|
|
}
|
|
|
|
void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
|
|
{
|
|
this->gravityNormal = normalizedVector;
|
|
this->rigid.gravityNormal = Float4( this->gravityNormal, 0 );
|
|
}
|
|
|
|
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 );
|
|
//}
|