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736ec20d4d
Don't include the lazy precompiled.h everywhere, only what's required for the compilation unit. platform.h needs to be included instead to provide all essential defines and types. All includes use the relative path to the neo or the game specific root. Move all idlib related includes from idlib/Lib.h to precompiled.h. precompiled.h still exists for the MFC stuff in tools/. Add some missing header guards.
1051 lines
44 KiB
C++
1051 lines
44 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_AF_H__
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#define __PHYSICS_AF_H__
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#include "idlib/math/Lcp.h"
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#include "physics/Physics_Base.h"
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/*
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===================================================================================
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Articulated Figure physics
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Employs a constraint force based dynamic simulation using a lagrangian
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multiplier method to solve for the constraint forces.
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===================================================================================
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*/
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class idAFConstraint;
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class idAFConstraint_Fixed;
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class idAFConstraint_BallAndSocketJoint;
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class idAFConstraint_BallAndSocketJointFriction;
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class idAFConstraint_UniversalJoint;
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class idAFConstraint_UniversalJointFriction;
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class idAFConstraint_CylindricalJoint;
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class idAFConstraint_Hinge;
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class idAFConstraint_HingeFriction;
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class idAFConstraint_HingeSteering;
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class idAFConstraint_Slider;
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class idAFConstraint_Line;
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class idAFConstraint_Plane;
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class idAFConstraint_Spring;
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class idAFConstraint_Contact;
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class idAFConstraint_ContactFriction;
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class idAFConstraint_ConeLimit;
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class idAFConstraint_PyramidLimit;
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class idAFConstraint_Suspension;
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class idAFBody;
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class idAFTree;
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class idPhysics_AF;
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typedef enum {
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CONSTRAINT_INVALID,
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CONSTRAINT_FIXED,
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CONSTRAINT_BALLANDSOCKETJOINT,
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CONSTRAINT_UNIVERSALJOINT,
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CONSTRAINT_HINGE,
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CONSTRAINT_HINGESTEERING,
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CONSTRAINT_SLIDER,
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CONSTRAINT_CYLINDRICALJOINT,
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CONSTRAINT_LINE,
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CONSTRAINT_PLANE,
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CONSTRAINT_SPRING,
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CONSTRAINT_CONTACT,
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CONSTRAINT_FRICTION,
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CONSTRAINT_CONELIMIT,
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CONSTRAINT_PYRAMIDLIMIT,
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CONSTRAINT_SUSPENSION
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} constraintType_t;
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//===============================================================
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//
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// idAFConstraint
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//
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//===============================================================
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// base class for all constraints
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class idAFConstraint {
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friend class idPhysics_AF;
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friend class idAFTree;
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public:
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idAFConstraint( void );
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virtual ~idAFConstraint( void );
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constraintType_t GetType( void ) const { return type; }
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const idStr & GetName( void ) const { return name; }
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idAFBody * GetBody1( void ) const { return body1; }
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idAFBody * GetBody2( void ) const { return body2; }
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void SetPhysics( idPhysics_AF *p ) { physics = p; }
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const idVecX & GetMultiplier( void );
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virtual void SetBody1( idAFBody *body );
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virtual void SetBody2( idAFBody *body );
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virtual void DebugDraw( void );
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virtual void GetForce( idAFBody *body, idVec6 &force );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void GetCenter( idVec3 ¢er );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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constraintType_t type; // constraint type
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idStr name; // name of constraint
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idAFBody * body1; // first constrained body
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idAFBody * body2; // second constrained body, NULL for world
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idPhysics_AF * physics; // for adding additional constraints like limits
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// simulation variables set by Evaluate
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idMatX J1, J2; // matrix with left hand side of constraint equations
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idVecX c1, c2; // right hand side of constraint equations
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idVecX lo, hi, e; // low and high bounds and lcp epsilon
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idAFConstraint * boxConstraint; // constraint the boxIndex refers to
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int boxIndex[6]; // indexes for special box constrained variables
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// simulation variables used during calculations
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idMatX invI; // transformed inertia
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idMatX J; // transformed constraint matrix
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idVecX s; // temp solution
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idVecX lm; // lagrange multipliers
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int firstIndex; // index of the first constraint row in the lcp matrix
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struct constraintFlags_s {
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bool allowPrimary : 1; // true if the constraint can be used as a primary constraint
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bool frameConstraint : 1; // true if this constraint is added to the frame constraints
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bool noCollision : 1; // true if body1 and body2 never collide with each other
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bool isPrimary : 1; // true if this is a primary constraint
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bool isZero : 1; // true if 's' is zero during calculations
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} fl;
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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void InitSize( int size );
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};
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// fixed or rigid joint which allows zero degrees of freedom
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// constrains body1 to have a fixed position and orientation relative to body2
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class idAFConstraint_Fixed : public idAFConstraint {
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public:
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idAFConstraint_Fixed( const idStr &name, idAFBody *body1, idAFBody *body2 );
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void SetRelativeOrigin( const idVec3 &origin ) { this->offset = origin; }
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void SetRelativeAxis( const idMat3 &axis ) { this->relAxis = axis; }
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virtual void SetBody1( idAFBody *body );
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virtual void SetBody2( idAFBody *body );
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virtual void DebugDraw( void );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void GetCenter( idVec3 ¢er );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idVec3 offset; // offset of body1 relative to body2 in body2 space
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idMat3 relAxis; // rotation of body1 relative to body2
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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void InitOffset( void );
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};
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// ball and socket or spherical joint which allows 3 degrees of freedom
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// constrains body1 relative to body2 with a ball and socket joint
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class idAFConstraint_BallAndSocketJoint : public idAFConstraint {
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public:
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idAFConstraint_BallAndSocketJoint( const idStr &name, idAFBody *body1, idAFBody *body2 );
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~idAFConstraint_BallAndSocketJoint( void );
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void SetAnchor( const idVec3 &worldPosition );
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idVec3 GetAnchor( void ) const;
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void SetNoLimit( void );
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void SetConeLimit( const idVec3 &coneAxis, const float coneAngle, const idVec3 &body1Axis );
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void SetPyramidLimit( const idVec3 &pyramidAxis, const idVec3 &baseAxis,
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const float angle1, const float angle2, const idVec3 &body1Axis );
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void SetLimitEpsilon( const float e );
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void SetFriction( const float f ) { friction = f; }
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float GetFriction( void ) const;
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virtual void DebugDraw( void );
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virtual void GetForce( idAFBody *body, idVec6 &force );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void GetCenter( idVec3 ¢er );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idVec3 anchor1; // anchor in body1 space
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idVec3 anchor2; // anchor in body2 space
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float friction; // joint friction
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idAFConstraint_ConeLimit *coneLimit; // cone shaped limit
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idAFConstraint_PyramidLimit *pyramidLimit; // pyramid shaped limit
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idAFConstraint_BallAndSocketJointFriction *fc; // friction constraint
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// ball and socket joint friction
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class idAFConstraint_BallAndSocketJointFriction : public idAFConstraint {
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public:
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idAFConstraint_BallAndSocketJointFriction( void );
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void Setup( idAFConstraint_BallAndSocketJoint *cc );
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bool Add( idPhysics_AF *phys, float invTimeStep );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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protected:
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idAFConstraint_BallAndSocketJoint *joint;
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// universal, Cardan or Hooke joint which allows 2 degrees of freedom
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// like a ball and socket joint but also constrains the rotation about the cardan shafts
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class idAFConstraint_UniversalJoint : public idAFConstraint {
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public:
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idAFConstraint_UniversalJoint( const idStr &name, idAFBody *body1, idAFBody *body2 );
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~idAFConstraint_UniversalJoint( void );
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void SetAnchor( const idVec3 &worldPosition );
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idVec3 GetAnchor( void ) const;
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void SetShafts( const idVec3 &cardanShaft1, const idVec3 &cardanShaft2 );
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void GetShafts( idVec3 &cardanShaft1, idVec3 &cardanShaft2 ) { cardanShaft1 = shaft1; cardanShaft2 = shaft2; }
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void SetNoLimit( void );
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void SetConeLimit( const idVec3 &coneAxis, const float coneAngle );
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void SetPyramidLimit( const idVec3 &pyramidAxis, const idVec3 &baseAxis,
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const float angle1, const float angle2 );
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void SetLimitEpsilon( const float e );
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void SetFriction( const float f ) { friction = f; }
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float GetFriction( void ) const;
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virtual void DebugDraw( void );
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virtual void GetForce( idAFBody *body, idVec6 &force );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void GetCenter( idVec3 ¢er );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idVec3 anchor1; // anchor in body1 space
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idVec3 anchor2; // anchor in body2 space
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idVec3 shaft1; // body1 cardan shaft in body1 space
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idVec3 shaft2; // body2 cardan shaft in body2 space
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idVec3 axis1; // cardan axis in body1 space
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idVec3 axis2; // cardan axis in body2 space
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float friction; // joint friction
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idAFConstraint_ConeLimit *coneLimit; // cone shaped limit
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idAFConstraint_PyramidLimit *pyramidLimit; // pyramid shaped limit
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idAFConstraint_UniversalJointFriction *fc; // friction constraint
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// universal joint friction
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class idAFConstraint_UniversalJointFriction : public idAFConstraint {
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public:
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idAFConstraint_UniversalJointFriction( void );
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void Setup( idAFConstraint_UniversalJoint *cc );
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bool Add( idPhysics_AF *phys, float invTimeStep );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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protected:
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idAFConstraint_UniversalJoint *joint; // universal joint
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// cylindrical joint which allows 2 degrees of freedom
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// constrains body1 to lie on a line relative to body2 and allows only translation along and rotation about the line
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class idAFConstraint_CylindricalJoint : public idAFConstraint {
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public:
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idAFConstraint_CylindricalJoint( const idStr &name, idAFBody *body1, idAFBody *body2 );
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virtual void DebugDraw( void );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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protected:
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// hinge, revolute or pin joint which allows 1 degree of freedom
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// constrains all motion of body1 relative to body2 except the rotation about the hinge axis
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class idAFConstraint_Hinge : public idAFConstraint {
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public:
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idAFConstraint_Hinge( const idStr &name, idAFBody *body1, idAFBody *body2 );
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~idAFConstraint_Hinge( void );
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void SetAnchor( const idVec3 &worldPosition );
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idVec3 GetAnchor( void ) const;
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void SetAxis( const idVec3 &axis );
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void GetAxis( idVec3 &a1, idVec3 &a2 ) const { a1 = axis1; a2 = axis2; }
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idVec3 GetAxis( void ) const;
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void SetNoLimit( void );
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void SetLimit( const idVec3 &axis, const float angle, const idVec3 &body1Axis );
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void SetLimitEpsilon( const float e );
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float GetAngle( void ) const;
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void SetSteerAngle( const float degrees );
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void SetSteerSpeed( const float speed );
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void SetFriction( const float f ) { friction = f; }
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float GetFriction( void ) const;
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virtual void DebugDraw( void );
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virtual void GetForce( idAFBody *body, idVec6 &force );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void GetCenter( idVec3 ¢er );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idVec3 anchor1; // anchor in body1 space
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idVec3 anchor2; // anchor in body2 space
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idVec3 axis1; // axis in body1 space
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idVec3 axis2; // axis in body2 space
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idMat3 initialAxis; // initial axis of body1 relative to body2
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float friction; // hinge friction
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idAFConstraint_ConeLimit *coneLimit; // cone limit
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idAFConstraint_HingeSteering *steering; // steering
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idAFConstraint_HingeFriction *fc; // friction constraint
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// hinge joint friction
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class idAFConstraint_HingeFriction : public idAFConstraint {
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public:
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idAFConstraint_HingeFriction( void );
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void Setup( idAFConstraint_Hinge *cc );
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bool Add( idPhysics_AF *phys, float invTimeStep );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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protected:
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idAFConstraint_Hinge * hinge; // hinge
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// constrains two bodies attached to each other with a hinge to get a specified relative orientation
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class idAFConstraint_HingeSteering : public idAFConstraint {
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public:
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idAFConstraint_HingeSteering( void );
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void Setup( idAFConstraint_Hinge *cc );
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void SetSteerAngle( const float degrees ) { steerAngle = degrees; }
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void SetSteerSpeed( const float speed ) { steerSpeed = speed; }
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void SetEpsilon( const float e ) { epsilon = e; }
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bool Add( idPhysics_AF *phys, float invTimeStep );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idAFConstraint_Hinge * hinge; // hinge
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float steerAngle; // desired steer angle in degrees
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float steerSpeed; // steer speed
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float epsilon; // lcp epsilon
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// slider, prismatic or translational constraint which allows 1 degree of freedom
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// constrains body1 to lie on a line relative to body2, the orientation is also fixed relative to body2
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class idAFConstraint_Slider : public idAFConstraint {
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public:
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idAFConstraint_Slider( const idStr &name, idAFBody *body1, idAFBody *body2 );
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void SetAxis( const idVec3 &ax );
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virtual void DebugDraw( void );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void GetCenter( idVec3 ¢er );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idVec3 axis; // axis along which body1 slides in body2 space
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idVec3 offset; // offset of body1 relative to body2
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idMat3 relAxis; // rotation of body1 relative to body2
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// line constraint which allows 4 degrees of freedom
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// constrains body1 to lie on a line relative to body2, does not constrain the orientation.
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class idAFConstraint_Line : public idAFConstraint {
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public:
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idAFConstraint_Line( const idStr &name, idAFBody *body1, idAFBody *body2 );
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virtual void DebugDraw( void );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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protected:
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// plane constraint which allows 5 degrees of freedom
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// constrains body1 to lie in a plane relative to body2, does not constrain the orientation.
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class idAFConstraint_Plane : public idAFConstraint {
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public:
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idAFConstraint_Plane( const idStr &name, idAFBody *body1, idAFBody *body2 );
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void SetPlane( const idVec3 &normal, const idVec3 &anchor );
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virtual void DebugDraw( void );
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virtual void Translate( const idVec3 &translation );
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virtual void Rotate( const idRotation &rotation );
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virtual void Save( idSaveGame *saveFile ) const;
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virtual void Restore( idRestoreGame *saveFile );
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protected:
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idVec3 anchor1; // anchor in body1 space
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idVec3 anchor2; // anchor in body2 space
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idVec3 planeNormal; // plane normal in body2 space
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protected:
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virtual void Evaluate( float invTimeStep );
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virtual void ApplyFriction( float invTimeStep );
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};
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// spring constraint which allows 6 or 5 degrees of freedom based on the spring limits
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// constrains body1 relative to body2 with a spring
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class idAFConstraint_Spring : public idAFConstraint {
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public:
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idAFConstraint_Spring( const idStr &name, idAFBody *body1, idAFBody *body2 );
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void SetAnchor( const idVec3 &worldAnchor1, const idVec3 &worldAnchor2 );
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void SetSpring( const float stretch, const float compress, const float damping, const float restLength );
|
|
void SetLimit( const float minLength, const float maxLength );
|
|
virtual void DebugDraw( void );
|
|
virtual void Translate( const idVec3 &translation );
|
|
virtual void Rotate( const idRotation &rotation );
|
|
virtual void GetCenter( idVec3 ¢er );
|
|
virtual void Save( idSaveGame *saveFile ) const;
|
|
virtual void Restore( idRestoreGame *saveFile );
|
|
|
|
protected:
|
|
idVec3 anchor1; // anchor in body1 space
|
|
idVec3 anchor2; // anchor in body2 space
|
|
float kstretch; // spring constant when stretched
|
|
float kcompress; // spring constant when compressed
|
|
float damping; // spring damping
|
|
float restLength; // rest length of spring
|
|
float minLength; // minimum spring length
|
|
float maxLength; // maximum spring length
|
|
|
|
protected:
|
|
virtual void Evaluate( float invTimeStep );
|
|
virtual void ApplyFriction( float invTimeStep );
|
|
};
|
|
|
|
// constrains body1 to either be in contact with or move away from body2
|
|
class idAFConstraint_Contact : public idAFConstraint {
|
|
|
|
public:
|
|
idAFConstraint_Contact( void );
|
|
~idAFConstraint_Contact( void );
|
|
void Setup( idAFBody *b1, idAFBody *b2, contactInfo_t &c );
|
|
const contactInfo_t & GetContact( void ) const { return contact; }
|
|
virtual void DebugDraw( void );
|
|
virtual void Translate( const idVec3 &translation );
|
|
virtual void Rotate( const idRotation &rotation );
|
|
virtual void GetCenter( idVec3 ¢er );
|
|
|
|
protected:
|
|
contactInfo_t contact; // contact information
|
|
idAFConstraint_ContactFriction *fc; // contact friction
|
|
|
|
protected:
|
|
virtual void Evaluate( float invTimeStep );
|
|
virtual void ApplyFriction( float invTimeStep );
|
|
};
|
|
|
|
// contact friction
|
|
class idAFConstraint_ContactFriction : public idAFConstraint {
|
|
|
|
public:
|
|
idAFConstraint_ContactFriction( void );
|
|
void Setup( idAFConstraint_Contact *cc );
|
|
bool Add( idPhysics_AF *phys, float invTimeStep );
|
|
virtual void DebugDraw( void );
|
|
virtual void Translate( const idVec3 &translation );
|
|
virtual void Rotate( const idRotation &rotation );
|
|
|
|
protected:
|
|
idAFConstraint_Contact *cc; // contact constraint
|
|
|
|
protected:
|
|
virtual void Evaluate( float invTimeStep );
|
|
virtual void ApplyFriction( float invTimeStep );
|
|
};
|
|
|
|
// constrains an axis attached to body1 to be inside a cone relative to body2
|
|
class idAFConstraint_ConeLimit : public idAFConstraint {
|
|
|
|
public:
|
|
idAFConstraint_ConeLimit( void );
|
|
void Setup( idAFBody *b1, idAFBody *b2, const idVec3 &coneAnchor, const idVec3 &coneAxis,
|
|
const float coneAngle, const idVec3 &body1Axis );
|
|
void SetAnchor( const idVec3 &coneAnchor );
|
|
void SetBody1Axis( const idVec3 &body1Axis );
|
|
void SetEpsilon( const float e ) { epsilon = e; }
|
|
bool Add( idPhysics_AF *phys, float invTimeStep );
|
|
virtual void DebugDraw( void );
|
|
virtual void Translate( const idVec3 &translation );
|
|
virtual void Rotate( const idRotation &rotation );
|
|
virtual void Save( idSaveGame *saveFile ) const;
|
|
virtual void Restore( idRestoreGame *saveFile );
|
|
|
|
protected:
|
|
idVec3 coneAnchor; // top of the cone in body2 space
|
|
idVec3 coneAxis; // cone axis in body2 space
|
|
idVec3 body1Axis; // axis in body1 space that should stay within the cone
|
|
float cosAngle; // cos( coneAngle / 2 )
|
|
float sinHalfAngle; // sin( coneAngle / 4 )
|
|
float cosHalfAngle; // cos( coneAngle / 4 )
|
|
float epsilon; // lcp epsilon
|
|
|
|
protected:
|
|
virtual void Evaluate( float invTimeStep );
|
|
virtual void ApplyFriction( float invTimeStep );
|
|
};
|
|
|
|
// constrains an axis attached to body1 to be inside a pyramid relative to body2
|
|
class idAFConstraint_PyramidLimit : public idAFConstraint {
|
|
|
|
public:
|
|
idAFConstraint_PyramidLimit( void );
|
|
void Setup( idAFBody *b1, idAFBody *b2, const idVec3 &pyramidAnchor,
|
|
const idVec3 &pyramidAxis, const idVec3 &baseAxis,
|
|
const float pyramidAngle1, const float pyramidAngle2, const idVec3 &body1Axis );
|
|
void SetAnchor( const idVec3 &pyramidAxis );
|
|
void SetBody1Axis( const idVec3 &body1Axis );
|
|
void SetEpsilon( const float e ) { epsilon = e; }
|
|
bool Add( idPhysics_AF *phys, float invTimeStep );
|
|
virtual void DebugDraw( void );
|
|
virtual void Translate( const idVec3 &translation );
|
|
virtual void Rotate( const idRotation &rotation );
|
|
virtual void Save( idSaveGame *saveFile ) const;
|
|
virtual void Restore( idRestoreGame *saveFile );
|
|
|
|
protected:
|
|
idVec3 pyramidAnchor; // top of the pyramid in body2 space
|
|
idMat3 pyramidBasis; // pyramid basis in body2 space with base[2] being the pyramid axis
|
|
idVec3 body1Axis; // axis in body1 space that should stay within the cone
|
|
float cosAngle[2]; // cos( pyramidAngle / 2 )
|
|
float sinHalfAngle[2]; // sin( pyramidAngle / 4 )
|
|
float cosHalfAngle[2]; // cos( pyramidAngle / 4 )
|
|
float epsilon; // lcp epsilon
|
|
|
|
protected:
|
|
virtual void Evaluate( float invTimeStep );
|
|
virtual void ApplyFriction( float invTimeStep );
|
|
};
|
|
|
|
// vehicle suspension
|
|
class idAFConstraint_Suspension : public idAFConstraint {
|
|
|
|
public:
|
|
idAFConstraint_Suspension( void );
|
|
|
|
void Setup( const char *name, idAFBody *body, const idVec3 &origin, const idMat3 &axis, idClipModel *clipModel );
|
|
void SetSuspension( const float up, const float down, const float k, const float d, const float f );
|
|
|
|
void SetSteerAngle( const float degrees ) { steerAngle = degrees; }
|
|
void EnableMotor( const bool enable ) { motorEnabled = enable; }
|
|
void SetMotorForce( const float force ) { motorForce = force; }
|
|
void SetMotorVelocity( const float vel ) { motorVelocity = vel; }
|
|
void SetEpsilon( const float e ) { epsilon = e; }
|
|
const idVec3 GetWheelOrigin( void ) const;
|
|
|
|
virtual void DebugDraw( void );
|
|
virtual void Translate( const idVec3 &translation );
|
|
virtual void Rotate( const idRotation &rotation );
|
|
|
|
protected:
|
|
idVec3 localOrigin; // position of suspension relative to body1
|
|
idMat3 localAxis; // orientation of suspension relative to body1
|
|
float suspensionUp; // suspension up movement
|
|
float suspensionDown; // suspension down movement
|
|
float suspensionKCompress; // spring compress constant
|
|
float suspensionDamping; // spring damping
|
|
float steerAngle; // desired steer angle in degrees
|
|
float friction; // friction
|
|
bool motorEnabled; // whether the motor is enabled or not
|
|
float motorForce; // motor force
|
|
float motorVelocity; // desired velocity
|
|
idClipModel * wheelModel; // wheel model
|
|
idVec3 wheelOffset; // wheel position relative to body1
|
|
trace_t trace; // contact point with the ground
|
|
float epsilon; // lcp epsilon
|
|
|
|
protected:
|
|
virtual void Evaluate( float invTimeStep );
|
|
virtual void ApplyFriction( float invTimeStep );
|
|
};
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idAFBody
|
|
//
|
|
//===============================================================
|
|
|
|
typedef struct AFBodyPState_s {
|
|
idVec3 worldOrigin; // position in world space
|
|
idMat3 worldAxis; // axis at worldOrigin
|
|
idVec6 spatialVelocity; // linear and rotational velocity of body
|
|
idVec6 externalForce; // external force and torque applied to body
|
|
} AFBodyPState_t;
|
|
|
|
|
|
class idAFBody {
|
|
|
|
friend class idPhysics_AF;
|
|
friend class idAFTree;
|
|
|
|
public:
|
|
idAFBody( void );
|
|
idAFBody( const idStr &name, idClipModel *clipModel, float density );
|
|
~idAFBody( void );
|
|
|
|
void Init( void );
|
|
const idStr & GetName( void ) const { return name; }
|
|
const idVec3 & GetWorldOrigin( void ) const { return current->worldOrigin; }
|
|
const idMat3 & GetWorldAxis( void ) const { return current->worldAxis; }
|
|
const idVec3 & GetLinearVelocity( void ) const { return current->spatialVelocity.SubVec3(0); }
|
|
const idVec3 & GetAngularVelocity( void ) const { return current->spatialVelocity.SubVec3(1); }
|
|
idVec3 GetPointVelocity( const idVec3 &point ) const;
|
|
const idVec3 & GetCenterOfMass( void ) const { return centerOfMass; }
|
|
void SetClipModel( idClipModel *clipModel );
|
|
idClipModel * GetClipModel( void ) const { return clipModel; }
|
|
void SetClipMask( const int mask ) { clipMask = mask; fl.clipMaskSet = true; }
|
|
int GetClipMask( void ) const { return clipMask; }
|
|
void SetSelfCollision( const bool enable ) { fl.selfCollision = enable; }
|
|
void SetWorldOrigin( const idVec3 &origin ) { current->worldOrigin = origin; }
|
|
void SetWorldAxis( const idMat3 &axis ) { current->worldAxis = axis; }
|
|
void SetLinearVelocity( const idVec3 &linear ) const { current->spatialVelocity.SubVec3(0) = linear; }
|
|
void SetAngularVelocity( const idVec3 &angular ) const { current->spatialVelocity.SubVec3(1) = angular; }
|
|
void SetFriction( float linear, float angular, float contact );
|
|
float GetContactFriction( void ) const { return contactFriction; }
|
|
void SetBouncyness( float bounce );
|
|
float GetBouncyness( void ) const { return bouncyness; }
|
|
void SetDensity( float density, const idMat3 &inertiaScale = mat3_identity );
|
|
float GetInverseMass( void ) const { return invMass; }
|
|
idMat3 GetInverseWorldInertia( void ) const { return current->worldAxis.Transpose() * inverseInertiaTensor * current->worldAxis; }
|
|
|
|
void SetFrictionDirection( const idVec3 &dir );
|
|
bool GetFrictionDirection( idVec3 &dir ) const;
|
|
|
|
void SetContactMotorDirection( const idVec3 &dir );
|
|
bool GetContactMotorDirection( idVec3 &dir ) const;
|
|
void SetContactMotorVelocity( float vel ) { contactMotorVelocity = vel; }
|
|
float GetContactMotorVelocity( void ) const { return contactMotorVelocity; }
|
|
void SetContactMotorForce( float force ) { contactMotorForce = force; }
|
|
float GetContactMotorForce( void ) const { return contactMotorForce; }
|
|
|
|
void AddForce( const idVec3 &point, const idVec3 &force );
|
|
void InverseWorldSpatialInertiaMultiply( idVecX &dst, const float *v ) const;
|
|
idVec6 & GetResponseForce( int index ) { return reinterpret_cast<idVec6 &>(response[ index * 8 ]); }
|
|
|
|
void Save( idSaveGame *saveFile );
|
|
void Restore( idRestoreGame *saveFile );
|
|
|
|
private:
|
|
// properties
|
|
idStr name; // name of body
|
|
idAFBody * parent; // parent of this body
|
|
idList<idAFBody *> children; // children of this body
|
|
idClipModel * clipModel; // model used for collision detection
|
|
idAFConstraint * primaryConstraint; // primary constraint (this->constraint->body1 = this)
|
|
idList<idAFConstraint *>constraints; // all constraints attached to this body
|
|
idAFTree * tree; // tree structure this body is part of
|
|
float linearFriction; // translational friction
|
|
float angularFriction; // rotational friction
|
|
float contactFriction; // friction with contact surfaces
|
|
float bouncyness; // bounce
|
|
int clipMask; // contents this body collides with
|
|
idVec3 frictionDir; // specifies a single direction of friction in body space
|
|
idVec3 contactMotorDir; // contact motor direction
|
|
float contactMotorVelocity; // contact motor velocity
|
|
float contactMotorForce; // maximum force applied to reach the motor velocity
|
|
|
|
// derived properties
|
|
float mass; // mass of body
|
|
float invMass; // inverse mass
|
|
idVec3 centerOfMass; // center of mass of body
|
|
idMat3 inertiaTensor; // inertia tensor
|
|
idMat3 inverseInertiaTensor; // inverse inertia tensor
|
|
|
|
// physics state
|
|
AFBodyPState_t state[2];
|
|
AFBodyPState_t * current; // current physics state
|
|
AFBodyPState_t * next; // next physics state
|
|
AFBodyPState_t saved; // saved physics state
|
|
idVec3 atRestOrigin; // origin at rest
|
|
idMat3 atRestAxis; // axis at rest
|
|
|
|
// simulation variables used during calculations
|
|
idMatX inverseWorldSpatialInertia; // inverse spatial inertia in world space
|
|
idMatX I, invI; // transformed inertia
|
|
idMatX J; // transformed constraint matrix
|
|
idVecX s; // temp solution
|
|
idVecX totalForce; // total force acting on body
|
|
idVecX auxForce; // force from auxiliary constraints
|
|
idVecX acceleration; // acceleration
|
|
float * response; // forces on body in response to auxiliary constraint forces
|
|
int * responseIndex; // index to response forces
|
|
int numResponses; // number of response forces
|
|
int maxAuxiliaryIndex; // largest index of an auxiliary constraint constraining this body
|
|
int maxSubTreeAuxiliaryIndex; // largest index of an auxiliary constraint constraining this body or one of it's children
|
|
|
|
struct bodyFlags_s {
|
|
bool clipMaskSet : 1; // true if this body has a clip mask set
|
|
bool selfCollision : 1; // true if this body can collide with other bodies of this AF
|
|
bool spatialInertiaSparse: 1; // true if the spatial inertia matrix is sparse
|
|
bool useFrictionDir : 1; // true if a single friction direction should be used
|
|
bool useContactMotorDir : 1; // true if a contact motor should be used
|
|
bool isZero : 1; // true if 's' is zero during calculations
|
|
} fl;
|
|
};
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idAFTree
|
|
//
|
|
//===============================================================
|
|
|
|
class idAFTree {
|
|
friend class idPhysics_AF;
|
|
|
|
public:
|
|
void Factor( void ) const;
|
|
void Solve( int auxiliaryIndex = 0 ) const;
|
|
void Response( const idAFConstraint *constraint, int row, int auxiliaryIndex ) const;
|
|
void CalculateForces( float timeStep ) const;
|
|
void SetMaxSubTreeAuxiliaryIndex( void );
|
|
void SortBodies( void );
|
|
void SortBodies_r( idList<idAFBody*>&sortedList, idAFBody *body );
|
|
void DebugDraw( const idVec4 &color ) const;
|
|
|
|
private:
|
|
idList<idAFBody *> sortedBodies;
|
|
};
|
|
|
|
|
|
//===============================================================
|
|
//
|
|
// idPhysics_AF
|
|
//
|
|
//===============================================================
|
|
|
|
typedef struct AFPState_s {
|
|
int atRest; // >= 0 if articulated figure is at rest
|
|
float noMoveTime; // time the articulated figure is hardly moving
|
|
float activateTime; // time since last activation
|
|
float lastTimeStep; // last time step
|
|
idVec6 pushVelocity; // velocity with which the af is pushed
|
|
} AFPState_t;
|
|
|
|
typedef struct AFCollision_s {
|
|
trace_t trace;
|
|
idAFBody * body;
|
|
} AFCollision_t;
|
|
|
|
|
|
class idPhysics_AF : public idPhysics_Base {
|
|
|
|
public:
|
|
CLASS_PROTOTYPE( idPhysics_AF );
|
|
|
|
idPhysics_AF( void );
|
|
~idPhysics_AF( void );
|
|
|
|
void Save( idSaveGame *savefile ) const;
|
|
void Restore( idRestoreGame *savefile );
|
|
|
|
// initialisation
|
|
int AddBody( idAFBody *body ); // returns body id
|
|
void AddConstraint( idAFConstraint *constraint );
|
|
void AddFrameConstraint( idAFConstraint *constraint );
|
|
// force a body to have a certain id
|
|
void ForceBodyId( idAFBody *body, int newId );
|
|
// get body or constraint id
|
|
int GetBodyId( idAFBody *body ) const;
|
|
int GetBodyId( const char *bodyName ) const;
|
|
int GetConstraintId( idAFConstraint *constraint ) const;
|
|
int GetConstraintId( const char *constraintName ) const;
|
|
// number of bodies and constraints
|
|
int GetNumBodies( void ) const;
|
|
int GetNumConstraints( void ) const;
|
|
// retrieve body or constraint
|
|
idAFBody * GetBody( const char *bodyName ) const;
|
|
idAFBody * GetBody( const int id ) const;
|
|
idAFBody * GetMasterBody( void ) const { return masterBody; }
|
|
idAFConstraint * GetConstraint( const char *constraintName ) const;
|
|
idAFConstraint * GetConstraint( const int id ) const;
|
|
// delete body or constraint
|
|
void DeleteBody( const char *bodyName );
|
|
void DeleteBody( const int id );
|
|
void DeleteConstraint( const char *constraintName );
|
|
void DeleteConstraint( const int id );
|
|
// get all the contact constraints acting on the body
|
|
int GetBodyContactConstraints( const int id, idAFConstraint_Contact *contacts[], int maxContacts ) const;
|
|
// set the default friction for bodies
|
|
void SetDefaultFriction( float linear, float angular, float contact );
|
|
// suspend settings
|
|
void SetSuspendSpeed( const idVec2 &velocity, const idVec2 &acceleration );
|
|
// set the time and tolerances used to determine if the simulation can be suspended when the figure hardly moves for a while
|
|
void SetSuspendTolerance( const float noMoveTime, const float translationTolerance, const float rotationTolerance );
|
|
// set minimum and maximum simulation time in seconds
|
|
void SetSuspendTime( const float minTime, const float maxTime );
|
|
// set the time scale value
|
|
void SetTimeScale( const float ts ) { timeScale = ts; }
|
|
// set time scale ramp
|
|
void SetTimeScaleRamp( const float start, const float end );
|
|
// set the joint friction scale
|
|
void SetJointFrictionScale( const float scale ) { jointFrictionScale = scale; }
|
|
// set joint friction dent
|
|
void SetJointFrictionDent( const float dent, const float start, const float end );
|
|
// get the current joint friction scale
|
|
float GetJointFrictionScale( void ) const;
|
|
// set the contact friction scale
|
|
void SetContactFrictionScale( const float scale ) { contactFrictionScale = scale; }
|
|
// set contact friction dent
|
|
void SetContactFrictionDent( const float dent, const float start, const float end );
|
|
// get the current contact friction scale
|
|
float GetContactFrictionScale( void ) const;
|
|
// enable or disable collision detection
|
|
void SetCollision( const bool enable ) { enableCollision = enable; }
|
|
// enable or disable self collision
|
|
void SetSelfCollision( const bool enable ) { selfCollision = enable; }
|
|
// enable or disable coming to a dead stop
|
|
void SetComeToRest( bool enable ) { comeToRest = enable; }
|
|
// call when structure of articulated figure changes
|
|
void SetChanged( void ) { changedAF = true; }
|
|
// enable/disable activation by impact
|
|
void EnableImpact( void );
|
|
void DisableImpact( void );
|
|
// lock of unlock the world constraints
|
|
void LockWorldConstraints( const bool lock ) { worldConstraintsLocked = lock; }
|
|
// set force pushable
|
|
void SetForcePushable( const bool enable ) { forcePushable = enable; }
|
|
// update the clip model positions
|
|
void UpdateClipModels( 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 );
|
|
bool IsAtRest( void ) const;
|
|
int GetRestStartTime( void ) const;
|
|
void Activate( void );
|
|
void PutToRest( void );
|
|
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;
|
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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 = true );
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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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// articulated figure
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idList<idAFTree *> trees; // tree structures
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idList<idAFBody *> bodies; // all bodies
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idList<idAFConstraint *>constraints; // all frame independent constraints
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idList<idAFConstraint *>primaryConstraints; // list with primary constraints
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idList<idAFConstraint *>auxiliaryConstraints; // list with auxiliary constraints
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idList<idAFConstraint *>frameConstraints; // constraints that only live one frame
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idList<idAFConstraint_Contact *>contactConstraints; // contact constraints
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idList<int> contactBodies; // body id for each contact
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idList<AFCollision_t> collisions; // collisions
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bool changedAF; // true when the articulated figure just changed
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// properties
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float linearFriction; // default translational friction
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float angularFriction; // default rotational friction
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float contactFriction; // default friction with contact surfaces
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float bouncyness; // default bouncyness
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float totalMass; // total mass of articulated figure
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float forceTotalMass; // force this total mass
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idVec2 suspendVelocity; // simulation may not be suspended if a body has more velocity
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idVec2 suspendAcceleration; // simulation may not be suspended if a body has more acceleration
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float noMoveTime; // suspend simulation if hardly any movement for this many seconds
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float noMoveTranslation; // maximum translation considered no movement
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float noMoveRotation; // maximum rotation considered no movement
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float minMoveTime; // if > 0 the simulation is never suspended before running this many seconds
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float maxMoveTime; // if > 0 the simulation is always suspeded after running this many seconds
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float impulseThreshold; // threshold below which impulses are ignored to avoid continuous activation
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float timeScale; // the time is scaled with this value for slow motion effects
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float timeScaleRampStart; // start of time scale change
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float timeScaleRampEnd; // end of time scale change
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float jointFrictionScale; // joint friction scale
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float jointFrictionDent; // joint friction dives from 1 to this value and goes up again
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float jointFrictionDentStart; // start time of joint friction dent
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float jointFrictionDentEnd; // end time of joint friction dent
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float jointFrictionDentScale; // dent scale
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float contactFrictionScale; // contact friction scale
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float contactFrictionDent; // contact friction dives from 1 to this value and goes up again
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float contactFrictionDentStart; // start time of contact friction dent
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float contactFrictionDentEnd; // end time of contact friction dent
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float contactFrictionDentScale; // dent scale
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bool enableCollision; // if true collision detection is enabled
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bool selfCollision; // if true the self collision is allowed
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bool comeToRest; // if true the figure can come to rest
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bool linearTime; // if true use the linear time algorithm
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bool noImpact; // if true do not activate when another object collides
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bool worldConstraintsLocked; // if true world constraints cannot be moved
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bool forcePushable; // if true can be pushed even when bound to a master
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// physics state
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AFPState_t current;
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AFPState_t saved;
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idAFBody * masterBody; // master body
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idLCP * lcp; // linear complementarity problem solver
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private:
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void BuildTrees( void );
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bool IsClosedLoop( const idAFBody *body1, const idAFBody *body2 ) const;
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void PrimaryFactor( void );
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void EvaluateBodies( float timeStep );
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void EvaluateConstraints( float timeStep );
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void AddFrameConstraints( void );
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void RemoveFrameConstraints( void );
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void ApplyFriction( float timeStep, float endTimeMSec );
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void PrimaryForces( float timeStep );
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void AuxiliaryForces( float timeStep );
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void VerifyContactConstraints( void );
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void SetupContactConstraints( void );
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void ApplyContactForces( void );
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void Evolve( float timeStep );
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idEntity * SetupCollisionForBody( idAFBody *body ) const;
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bool CollisionImpulse( float timeStep, idAFBody *body, trace_t &collision );
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bool ApplyCollisions( float timeStep );
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void CheckForCollisions( float timeStep );
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void ClearExternalForce( void );
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void AddGravity( void );
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void SwapStates( void );
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bool TestIfAtRest( float timeStep );
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void Rest( void );
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void AddPushVelocity( const idVec6 &pushVelocity );
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void DebugDraw( void );
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};
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#endif /* !__PHYSICS_AF_H__ */
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