mirror of
https://github.com/dhewm/dhewm3.git
synced 2024-12-18 00:41:36 +00:00
196 lines
7.7 KiB
C++
196 lines
7.7 KiB
C++
/*
|
|
===========================================================================
|
|
|
|
Doom 3 GPL Source Code
|
|
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
|
|
|
|
This file is part of the Doom 3 GPL Source Code ("Doom 3 Source Code").
|
|
|
|
Doom 3 Source Code is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Doom 3 Source Code is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
===========================================================================
|
|
*/
|
|
|
|
#ifndef __PHYSICS_RIGIDBODY_H__
|
|
#define __PHYSICS_RIGIDBODY_H__
|
|
|
|
/*
|
|
===================================================================================
|
|
|
|
Rigid body physics
|
|
|
|
Employs an impulse based dynamic simulation which is not very accurate but
|
|
relatively fast and still reliable due to the continuous collision detection.
|
|
|
|
===================================================================================
|
|
*/
|
|
|
|
extern const float RB_VELOCITY_MAX;
|
|
extern const int RB_VELOCITY_TOTAL_BITS;
|
|
extern const int RB_VELOCITY_EXPONENT_BITS;
|
|
extern const int RB_VELOCITY_MANTISSA_BITS;
|
|
|
|
typedef struct rididBodyIState_s {
|
|
idVec3 position; // position of trace model
|
|
idMat3 orientation; // orientation of trace model
|
|
idVec3 linearMomentum; // translational momentum relative to center of mass
|
|
idVec3 angularMomentum; // rotational momentum relative to center of mass
|
|
} rigidBodyIState_t;
|
|
|
|
typedef struct rigidBodyPState_s {
|
|
int atRest; // set when simulation is suspended
|
|
float lastTimeStep; // length of last time step
|
|
idVec3 localOrigin; // origin relative to master
|
|
idMat3 localAxis; // axis relative to master
|
|
idVec6 pushVelocity; // push velocity
|
|
idVec3 externalForce; // external force relative to center of mass
|
|
idVec3 externalTorque; // external torque relative to center of mass
|
|
rigidBodyIState_t i; // state used for integration
|
|
} rigidBodyPState_t;
|
|
|
|
class idPhysics_RigidBody : public idPhysics_Base {
|
|
|
|
public:
|
|
|
|
CLASS_PROTOTYPE( idPhysics_RigidBody );
|
|
|
|
idPhysics_RigidBody( void );
|
|
~idPhysics_RigidBody( void );
|
|
|
|
void Save( idSaveGame *savefile ) const;
|
|
void Restore( idRestoreGame *savefile );
|
|
|
|
// initialisation
|
|
void SetFriction( const float linear, const float angular, const float contact );
|
|
void SetBouncyness( const float b );
|
|
// same as above but drop to the floor first
|
|
void DropToFloor( void );
|
|
// no contact determination and contact friction
|
|
void NoContact( void );
|
|
// enable/disable activation by impact
|
|
void EnableImpact( void );
|
|
void DisableImpact( void );
|
|
|
|
public: // common physics interface
|
|
void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true );
|
|
idClipModel * GetClipModel( int id = 0 ) const;
|
|
int GetNumClipModels( void ) const;
|
|
|
|
void SetMass( float mass, int id = -1 );
|
|
float GetMass( int id = -1 ) const;
|
|
|
|
void SetContents( int contents, int id = -1 );
|
|
int GetContents( int id = -1 ) const;
|
|
|
|
const idBounds & GetBounds( int id = -1 ) const;
|
|
const idBounds & GetAbsBounds( int id = -1 ) const;
|
|
|
|
bool Evaluate( int timeStepMSec, int endTimeMSec );
|
|
void UpdateTime( int endTimeMSec );
|
|
int GetTime( void ) const;
|
|
|
|
void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const;
|
|
void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse );
|
|
void AddForce( const int id, const idVec3 &point, const idVec3 &force );
|
|
void Activate( void );
|
|
void PutToRest( void );
|
|
bool IsAtRest( void ) const;
|
|
int GetRestStartTime( void ) const;
|
|
bool IsPushable( void ) const;
|
|
|
|
void SaveState( void );
|
|
void RestoreState( void );
|
|
|
|
void SetOrigin( const idVec3 &newOrigin, int id = -1 );
|
|
void SetAxis( const idMat3 &newAxis, int id = -1 );
|
|
|
|
void Translate( const idVec3 &translation, int id = -1 );
|
|
void Rotate( const idRotation &rotation, int id = -1 );
|
|
|
|
const idVec3 & GetOrigin( int id = 0 ) const;
|
|
const idMat3 & GetAxis( int id = 0 ) const;
|
|
|
|
void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 );
|
|
void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 );
|
|
|
|
const idVec3 & GetLinearVelocity( int id = 0 ) const;
|
|
const idVec3 & GetAngularVelocity( int id = 0 ) const;
|
|
|
|
void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const;
|
|
void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const;
|
|
int ClipContents( const idClipModel *model ) const;
|
|
|
|
void DisableClip( void );
|
|
void EnableClip( void );
|
|
|
|
void UnlinkClip( void );
|
|
void LinkClip( void );
|
|
|
|
bool EvaluateContacts( void );
|
|
|
|
void SetPushed( int deltaTime );
|
|
const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const;
|
|
const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const;
|
|
|
|
void SetMaster( idEntity *master, const bool orientated );
|
|
|
|
void WriteToSnapshot( idBitMsgDelta &msg ) const;
|
|
void ReadFromSnapshot( const idBitMsgDelta &msg );
|
|
|
|
private:
|
|
// state of the rigid body
|
|
rigidBodyPState_t current;
|
|
rigidBodyPState_t saved;
|
|
|
|
// rigid body properties
|
|
float linearFriction; // translational friction
|
|
float angularFriction; // rotational friction
|
|
float contactFriction; // friction with contact surfaces
|
|
float bouncyness; // bouncyness
|
|
idClipModel * clipModel; // clip model used for collision detection
|
|
|
|
// derived properties
|
|
float mass; // mass of body
|
|
float inverseMass; // 1 / mass
|
|
idVec3 centerOfMass; // center of mass of trace model
|
|
idMat3 inertiaTensor; // mass distribution
|
|
idMat3 inverseInertiaTensor; // inverse inertia tensor
|
|
|
|
idODE * integrator; // integrator
|
|
bool dropToFloor; // true if dropping to the floor and putting to rest
|
|
bool testSolid; // true if testing for solid when dropping to the floor
|
|
bool noImpact; // if true do not activate when another object collides
|
|
bool noContact; // if true do not determine contacts and no contact friction
|
|
|
|
// master
|
|
bool hasMaster;
|
|
bool isOrientated;
|
|
|
|
private:
|
|
friend void RigidBodyDerivatives( const float t, const void *clientData, const float *state, float *derivatives );
|
|
void Integrate( const float deltaTime, rigidBodyPState_t &next );
|
|
bool CheckForCollisions( const float deltaTime, rigidBodyPState_t &next, trace_t &collision );
|
|
bool CollisionImpulse( const trace_t &collision, idVec3 &impulse );
|
|
void ContactFriction( float deltaTime );
|
|
void DropToFloorAndRest( void );
|
|
bool TestIfAtRest( void ) const;
|
|
void Rest( void );
|
|
void DebugDraw( void );
|
|
};
|
|
|
|
#endif /* !__PHYSICS_RIGIDBODY_H__ */
|