mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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113 lines
3.8 KiB
C++
113 lines
3.8 KiB
C++
//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#ifndef _RIGID_H_
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#define _RIGID_H_
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#ifndef _PLATFORM_H_
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#include "platform/platform.h"
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#endif
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#ifndef _MPOINT3_H_
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#include "math/mPoint3.h"
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#endif
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#ifndef _MMATRIX_H_
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#include "math/mMatrix.h"
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#endif
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#ifndef _MQUAT_H_
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#include "math/mQuat.h"
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#endif
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//----------------------------------------------------------------------------
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class Rigid
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{
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public:
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MatrixF objectInertia; ///< Moment of inertia
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MatrixF invObjectInertia; ///< Inverse moment of inertia
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MatrixF invWorldInertia; ///< Inverse moment of inertia in world space
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Point3F force;
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Point3F torque;
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Point3F linVelocity; ///< Linear velocity
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Point3F linPosition; ///< Current position
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Point3F linMomentum; ///< Linear momentum
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Point3F angVelocity; ///< Angular velocity
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QuatF angPosition; ///< Current rotation
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Point3F angMomentum; ///< Angular momentum
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Point3F centerOfMass; ///< Center of mass in object space
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Point3F worldCenterOfMass; ///< CofM in world space
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F32 mass; ///< Rigid body mass
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F32 oneOverMass; ///< 1 / mass
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F32 restitution; ///< Collision restitution
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F32 friction; ///< Friction coefficient
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// sleep threshold parameters
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F32 sleepLinearThreshold; ///< M/S ^ 2
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F32 sleepAngThreshold; ///< R/S ^ 2
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F32 sleepTimeThreshold; ///< Seconds
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F32 sleepTimer;
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bool atRest;
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private:
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void translateCenterOfMass(const Point3F &oldPos,const Point3F &newPos);
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void trySleep(F32 dt);
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public:
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//
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Rigid();
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void clearForces();
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void integrate(F32 delta);
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void updateInertialTensor();
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void updateVelocity();
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void updateCenterOfMass();
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void applyImpulse(const Point3F &v,const Point3F &impulse);
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bool resolveCollision(const Point3F& p,const Point3F &normal,Rigid*);
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bool resolveCollision(const Point3F& p,const Point3F &normal);
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F32 getZeroImpulse(const Point3F& r,const Point3F& normal);
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F32 getKineticEnergy();
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void getOriginVector(const Point3F &r,Point3F* v);
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void setCenterOfMass(const Point3F &v);
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void getVelocity(const Point3F &p,Point3F* r);
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void getTransform(MatrixF* mat);
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void setTransform(const MatrixF& mat);
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void setObjectInertia(const Point3F& r);
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void setObjectInertia();
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void invertObjectInertia();
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bool checkRestCondition();
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void setAtRest();
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//
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void setSleepThresholds(F32 linVel2, F32 angVel2, F32 timeToSleep);
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void wake();
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TORQUE_FORCEINLINE void updateAngularVelocity() { invWorldInertia.mulV(angMomentum, &angVelocity); }
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};
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#endif
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