mirror of
https://github.com/dhewm/dhewm3.git
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196 lines
7.7 KiB
C++
196 lines
7.7 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code ("Doom 3 Source Code").
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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#ifndef __PHYSICS_RIGIDBODY_H__
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#define __PHYSICS_RIGIDBODY_H__
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/*
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===================================================================================
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Rigid body physics
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Employs an impulse based dynamic simulation which is not very accurate but
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relatively fast and still reliable due to the continuous collision detection.
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===================================================================================
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*/
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extern const float RB_VELOCITY_MAX;
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extern const int RB_VELOCITY_TOTAL_BITS;
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extern const int RB_VELOCITY_EXPONENT_BITS;
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extern const int RB_VELOCITY_MANTISSA_BITS;
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typedef struct rididBodyIState_s {
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idVec3 position; // position of trace model
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idMat3 orientation; // orientation of trace model
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idVec3 linearMomentum; // translational momentum relative to center of mass
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idVec3 angularMomentum; // rotational momentum relative to center of mass
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} rigidBodyIState_t;
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typedef struct rigidBodyPState_s {
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int atRest; // set when simulation is suspended
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float lastTimeStep; // length of last time step
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idVec3 localOrigin; // origin relative to master
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idMat3 localAxis; // axis relative to master
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idVec6 pushVelocity; // push velocity
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idVec3 externalForce; // external force relative to center of mass
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idVec3 externalTorque; // external torque relative to center of mass
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rigidBodyIState_t i; // state used for integration
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} rigidBodyPState_t;
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class idPhysics_RigidBody : public idPhysics_Base {
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public:
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CLASS_PROTOTYPE( idPhysics_RigidBody );
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idPhysics_RigidBody( void );
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~idPhysics_RigidBody( void );
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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// initialisation
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void SetFriction( const float linear, const float angular, const float contact );
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void SetBouncyness( const float b );
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// same as above but drop to the floor first
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void DropToFloor( void );
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// no contact determination and contact friction
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void NoContact( void );
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// enable/disable activation by impact
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void EnableImpact( void );
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void DisableImpact( void );
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public: // common physics interface
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void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true );
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idClipModel * GetClipModel( int id = 0 ) const;
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int GetNumClipModels( void ) const;
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void SetMass( float mass, int id = -1 );
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float GetMass( int id = -1 ) const;
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void SetContents( int contents, int id = -1 );
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int GetContents( int id = -1 ) const;
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const idBounds & GetBounds( int id = -1 ) const;
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const idBounds & GetAbsBounds( int id = -1 ) const;
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bool Evaluate( int timeStepMSec, int endTimeMSec );
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void UpdateTime( int endTimeMSec );
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int GetTime( void ) const;
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void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const;
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void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse );
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void AddForce( const int id, const idVec3 &point, const idVec3 &force );
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void Activate( void );
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void PutToRest( void );
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bool IsAtRest( void ) const;
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int GetRestStartTime( void ) const;
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bool IsPushable( void ) const;
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void SaveState( void );
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void RestoreState( void );
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void SetOrigin( const idVec3 &newOrigin, int id = -1 );
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void SetAxis( const idMat3 &newAxis, int id = -1 );
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void Translate( const idVec3 &translation, int id = -1 );
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void Rotate( const idRotation &rotation, int id = -1 );
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const idVec3 & GetOrigin( int id = 0 ) const;
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const idMat3 & GetAxis( int id = 0 ) const;
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void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 );
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void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 );
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const idVec3 & GetLinearVelocity( int id = 0 ) const;
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const idVec3 & GetAngularVelocity( int id = 0 ) const;
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void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const;
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void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const;
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int ClipContents( const idClipModel *model ) const;
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void DisableClip( void );
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void EnableClip( void );
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void UnlinkClip( void );
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void LinkClip( void );
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bool EvaluateContacts( void );
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void SetPushed( int deltaTime );
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const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const;
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const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const;
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void SetMaster( idEntity *master, const bool orientated );
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void WriteToSnapshot( idBitMsgDelta &msg ) const;
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void ReadFromSnapshot( const idBitMsgDelta &msg );
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private:
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// state of the rigid body
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rigidBodyPState_t current;
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rigidBodyPState_t saved;
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// rigid body properties
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float linearFriction; // translational friction
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float angularFriction; // rotational friction
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float contactFriction; // friction with contact surfaces
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float bouncyness; // bouncyness
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idClipModel * clipModel; // clip model used for collision detection
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// derived properties
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float mass; // mass of body
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float inverseMass; // 1 / mass
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idVec3 centerOfMass; // center of mass of trace model
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idMat3 inertiaTensor; // mass distribution
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idMat3 inverseInertiaTensor; // inverse inertia tensor
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idODE * integrator; // integrator
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bool dropToFloor; // true if dropping to the floor and putting to rest
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bool testSolid; // true if testing for solid when dropping to the floor
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bool noImpact; // if true do not activate when another object collides
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bool noContact; // if true do not determine contacts and no contact friction
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// master
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bool hasMaster;
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bool isOrientated;
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private:
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friend void RigidBodyDerivatives( const float t, const void *clientData, const float *state, float *derivatives );
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void Integrate( const float deltaTime, rigidBodyPState_t &next );
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bool CheckForCollisions( const float deltaTime, rigidBodyPState_t &next, trace_t &collision );
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bool CollisionImpulse( const trace_t &collision, idVec3 &impulse );
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void ContactFriction( float deltaTime );
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void DropToFloorAndRest( void );
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bool TestIfAtRest( void ) const;
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void Rest( void );
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void DebugDraw( void );
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};
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#endif /* !__PHYSICS_RIGIDBODY_H__ */
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