mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-19 20:24:49 +00:00
fbfd3ed8ed
while not a major issue per-se, the sheer number of times the engine has to jump back in memory and backfill data in a given class can add up. First run of... many.,
141 lines
4.1 KiB
C++
141 lines
4.1 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 _T3D_PHYSICSCOMMON_H_
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#define _T3D_PHYSICSCOMMON_H_
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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 _MQUAT_H_
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#include "math/mQuat.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 _REFBASE_H_
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#include "core/util/refBase.h"
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#endif
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/// Helper structure which defines the state of a single physics body.
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struct PhysicsState
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{
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/// Constructor.
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PhysicsState()
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: position( Point3F::Zero ),
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momentum( Point3F::Zero ),
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orientation( QuatF::Identity ),
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angularMomentum( Point3F::Zero ),
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sleeping( false ),
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linVelocity( Point3F::Zero ),
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angVelocity( Point3F::Zero )
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{
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}
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/// The primary physics state.
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// @{
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/// The position of the body.
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Point3F position;
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/// The momentum in kilogram meters per second.
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Point3F momentum;
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/// The orientation of the body.
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QuatF orientation;
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/// The angular momentum.
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Point3F angularMomentum;
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/// Is true if the shape is asleep.
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bool sleeping;
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// @}
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/// The secondary physics state derived from the primary state.
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/// @{
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/// The linear velocity derived from the momentum.
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Point3F linVelocity;
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///
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Point3F angVelocity;
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/*
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Vector velocity; ///< velocity in meters per second (calculated from momentum).
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Quaternion spin; ///< quaternion rate of change in orientation.
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Vector angularVelocity; ///< angular velocity (calculated from angularMomentum).
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Matrix bodyToWorld; ///< body to world coordinates matrix.
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Matrix worldToBody; ///< world to body coordinates matrix.
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*/
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/// @}
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/// Interpolates between two physics states leaving the
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/// result in this physics state.
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inline PhysicsState& interpolate( const PhysicsState &a, const PhysicsState &b, F32 t )
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{
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F32 inverseT = 1.0f - t;
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position = a.position*inverseT + b.position*t;
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momentum = a.momentum*inverseT + b.momentum*t;
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orientation.interpolate( a.orientation, b.orientation, t );
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angularMomentum = a.angularMomentum*inverseT + b.angularMomentum*t;
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// Recalculate the velocities
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//linVelocity =
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//angVelocity
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return *this;
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}
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/// Helper builds the transform from the state.
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inline MatrixF getTransform() const
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{
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MatrixF xfm;
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orientation.setMatrix( &xfm );
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xfm.setPosition( position );
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return xfm;
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}
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};
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/// The event type passed to the physics reset signal.
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/// @see PhysicsPlugin::getPhysicsResetSignal().
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enum PhysicsResetEvent
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{
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PhysicsResetEvent_Store,
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PhysicsResetEvent_Restore
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};
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/// The signal for system wide physics events.
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/// @see PhysicsPlugin
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typedef Signal<void(PhysicsResetEvent reset)> PhysicsResetSignal;
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class PhysicsCollision;
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/// A strong reference to a physics collision shape.
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typedef StrongRefPtr<PhysicsCollision> PhysicsCollisionRef;
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#endif // _T3D_PHYSICSCOMMON_H_
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