Engine directory for ticket #1

Engine/source/T3D/physics/physicsCommon.h

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+//-----------------------------------------------------------------------------
+// Copyright (c) 2012 GarageGames, LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#ifndef _T3D_PHYSICSCOMMON_H_
+#define _T3D_PHYSICSCOMMON_H_
+
+#ifndef _MPOINT3_H_
+#include "math/mPoint3.h"
+#endif
+#ifndef _MQUAT_H_
+#include "math/mQuat.h"
+#endif
+#ifndef _MMATRIX_H_
+#include "math/mMatrix.h"
+#endif
+#ifndef _REFBASE_H_
+#include "core/util/refBase.h"
+#endif
+
+
+/// Helper structure which defines the state of a single physics body.
+struct PhysicsState
+{
+   /// Constructor.
+   PhysicsState()
+      :  position( Point3F::Zero ),
+         momentum( Point3F::Zero ),
+         orientation( QuatF::Identity ),
+         angularMomentum( Point3F::Zero ),
+         linVelocity( Point3F::Zero ),
+         angVelocity( Point3F::Zero ),
+         sleeping( false )
+   {
+   }
+
+   /// The primary physics state.
+   // @{
+
+   /// The position of the body.
+   Point3F position;
+  
+   /// The momentum in kilogram meters per second.
+   Point3F momentum;
+
+   /// The orientation of the body.
+   QuatF orientation;
+
+   /// The angular momentum.
+   Point3F angularMomentum; 
+
+   /// Is true if the shape is asleep.
+   bool sleeping;
+
+   // @}
+
+   /// The secondary physics state derived from the primary state.
+   /// @{
+
+   /// The linear velocity derived from the momentum.
+   Point3F linVelocity;
+
+   /// 
+   Point3F angVelocity;
+
+   /*
+   Vector velocity;                ///< velocity in meters per second (calculated from momentum).
+   Quaternion spin;                ///< quaternion rate of change in orientation.
+   Vector angularVelocity;         ///< angular velocity (calculated from angularMomentum).
+   Matrix bodyToWorld;             ///< body to world coordinates matrix.
+   Matrix worldToBody;             ///< world to body coordinates matrix.
+   */
+
+   /// @}
+
+
+   /// Interpolates between two physics states leaving the 
+   /// result in this physics state.
+	inline PhysicsState& interpolate( const PhysicsState &a, const PhysicsState &b, F32 t )
+	{
+      F32 inverseT = 1.0f - t;
+		position = a.position*inverseT + b.position*t;
+		momentum = a.momentum*inverseT + b.momentum*t;
+		orientation.interpolate( a.orientation, b.orientation, t );
+		angularMomentum = a.angularMomentum*inverseT + b.angularMomentum*t;
+
+      // Recalculate the velocities
+      //linVelocity = 
+      //angVelocity
+
+		return *this;
+	}
+
+   /// Helper builds the transform from the state.
+   inline MatrixF getTransform() const
+   {
+      MatrixF xfm;
+      orientation.setMatrix( &xfm );
+      xfm.setPosition( position );
+      return xfm;
+   }
+
+};
+
+
+/// The event type passed to the physics reset signal.
+/// @see PhysicsPlugin::getPhysicsResetSignal().
+enum PhysicsResetEvent
+{
+   PhysicsResetEvent_Store,
+   PhysicsResetEvent_Restore
+};
+
+/// The signal for system wide physics events.
+/// @see PhysicsPlugin
+typedef Signal<void(PhysicsResetEvent reset)> PhysicsResetSignal;
+
+class PhysicsCollision;
+
+/// A strong reference to a physics collision shape.
+typedef StrongRefPtr<PhysicsCollision> PhysicsCollisionRef;
+
+#endif // _T3D_PHYSICSCOMMON_H_