mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-19 20:24:49 +00:00
4c083d713d
rigid: main finding is rigid needs to take delta into account for integration (aka interpolation) also used POINT_EPSILON for thresholds for consistency for rigidshape/item/player, main finding was length calcs for the search area were all over the place, so we now derive the extended length of the cached area based on the velocity and the object's radius itself rather than guessin per class atrest gravity calc suplimental syncing between rigidshape and vehicle **remindernote POINT_EPSILO is 0.0001
113 lines
3.9 KiB
C++
113 lines
3.9 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(F32 delta) { Point3F deltaVel = angVelocity * delta; invWorldInertia.mulV(angMomentum, &deltaVel); }
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};
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#endif
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