310 lines
13 KiB
C
310 lines
13 KiB
C
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// Copyright (C) 2007 Id Software, Inc.
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//
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#ifndef __PHYSICS_RIGIDBODYMULTIPLE_H__
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#define __PHYSICS_RIGIDBODYMULTIPLE_H__
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#include "Physics_RigidBody.h"
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const int RBM_MAX_CONTACTS = 16;
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class idEntity;
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typedef struct pointMass_s {
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idVec3 origin;
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float mass;
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} pointMass_t;
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const int MAX_CONSTRAINTS = 128;
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typedef idStaticList< constraintInfo_t, MAX_CONSTRAINTS > constraintList_t;
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class sdRigidBodyMulti_Body {
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public:
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sdRigidBodyMulti_Body( void );
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~sdRigidBodyMulti_Body( void );
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void SetClipModel( idClipModel* _clipModel, float density, int id, bool freeOld );
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idClipModel* GetClipModel( void ) const { return clipModel; }
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void Init( void );
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void Link( idEntity* self, const rigidBodyPState_t& current );
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void UnLink( void );
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void SetFrictionAxis( const idMat3& axis ) { frictionAxis = axis; }
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float GetMass( void ) const { return mass; }
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float GetInverseMass( void ) const { return inverseMass; }
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const idVec3& GetCenterOfMass( void ) const { return centerOfMass; }
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const idMat3& GetInertiaTensor( void ) const { return inertiaTensor; }
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const idMat3& GetInverseInertiaTensor( void ) const { return inverseInertiaTensor; }
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const idVec3& GetOffset( void ) const { return localOrigin; }
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int GetClipMask( void ) const { return clipMask; }
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const idMat3& GetFrictionAxis( void ) { return frictionAxis; }
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const idVec3& GetContactFriction( void ) { return contactFriction; }
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float GetBuoyancy( void ) { return buoyancy; }
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float GetWaterDrag( void ) { return waterDrag; }
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void SetOffset( const idVec3& offset ) { localOrigin = offset; }
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void SetMass( float _mass );
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void SetClipMask( int _clipMask ) { clipMask = _clipMask; }
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void DebugDrawMass( void );
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void SetContactFriction( const idVec3& value ) { contactFriction = value; }
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void SetBuoyancy( float b ) { buoyancy = b; }
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void SetWaterDrag( float d ) { waterDrag = d; }
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void SetMainCenterOfMass( const idVec3& com );
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const idClipModel* GetCenteredClipModel( void ) const { return clipModel ? centeredClipModel : NULL; }
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idClipModel* GetCenteredClipModel( void ) { return clipModel ? centeredClipModel : NULL; }
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private:
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idVec3 localOrigin;
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idClipModel * clipModel; // clip model used for collision detection
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idClipModel * centeredClipModel; // clip model at the center of mass of the entire object
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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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int clipMask;
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idMat3 frictionAxis;
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idVec3 contactFriction;
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float contactSideFriction;
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float buoyancy;
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float waterDrag;
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};
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class sdRBMultipleNetworkState : public sdEntityStateNetworkData {
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public:
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sdRBMultipleNetworkState( void ) { ; }
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virtual void MakeDefault( void );
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virtual void Write( idFile* file ) const;
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virtual void Read( idFile* file );
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idVec3 origin;
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idVec3 linearVelocity;
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idVec3 angularVelocity;
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idCQuat orientation;
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};
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class sdRBMultipleBroadcastState : public sdEntityStateNetworkData {
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public:
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sdRBMultipleBroadcastState( void ) { ; }
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virtual void MakeDefault( void );
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virtual void Write( idFile* file ) const;
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virtual void Read( idFile* file );
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idVec3 localOrigin;
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idCQuat localOrientation;
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int atRest;
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};
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typedef struct {
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trace_t trace;
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int time;
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idVec3 velocity;
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} rbMultipleCollision_t;
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class sdPhysics_RigidBodyMultiple : public idPhysics_Base {
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public:
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CLASS_PROTOTYPE( sdPhysics_RigidBodyMultiple );
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sdPhysics_RigidBodyMultiple( void );
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~sdPhysics_RigidBodyMultiple( void );
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public:
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virtual void SetClipModel( idClipModel *model, float density, int id, bool freeOld = true );
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virtual idClipModel* GetClipModel( int id ) const;
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virtual int GetNumClipModels( void ) const;
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virtual void SetMass( float mass, int id );
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virtual float GetMass( int id ) const;
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virtual const idMat3& GetInertiaTensor( int id = -1 ) const;
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virtual const idVec3& GetCenterOfMass( void ) const { return mainCenterOfMass; }
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virtual void SetInertiaTensor( const idMat3& itt ); // NOTE: use with EXTREME CAUTION
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virtual void SetContents( int contents, int id );
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virtual int GetContents( int id ) const;
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virtual const idBounds& GetBounds( int id ) const;
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virtual const idBounds& GetAbsBounds( int id ) const;
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virtual bool Evaluate( int timeStepMSec, int endTimeMSec );
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virtual void UpdateTime( int endTimeMSec );
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virtual void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const;
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virtual void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse );
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virtual void AddForce( const int id, const idVec3 &point, const idVec3 &force );
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virtual void AddLocalForce( const int id, const idVec3 &point, const idVec3 &force ); // applies in local space
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virtual void AddForce( const idVec3& force );
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virtual void AddTorque( const idVec3& torque );
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virtual bool IsAtRest( void ) const;
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virtual int GetRestStartTime( void ) const;
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virtual bool IsPushable( void ) const;
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virtual bool EvaluateContacts( bool addEntityContacts );
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virtual void SaveState( void );
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virtual void RestoreState( void );
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virtual void SetOrigin( const idVec3 &newOrigin, int id = 0 );
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virtual void SetAxis( const idMat3 &newAxis, int id = 0 );
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virtual void Translate( const idVec3 &translation, int id = 0 );
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virtual void Rotate( const idRotation &rotation, int id = 0 );
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virtual const idVec3& GetOrigin( int id = 0 ) const;
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virtual const idMat3& GetAxis( int id = 0 ) const;
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virtual void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = -1 );
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virtual void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = -1 );
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virtual const idVec3& GetLinearVelocity( int id = 0 ) const;
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virtual const idVec3& GetAngularVelocity( int id = 0 ) const;
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virtual void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const;
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virtual void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const;
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virtual int ClipContents( const idClipModel *model ) const;
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virtual void SetMaster( idEntity *master, const bool orientated );
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virtual void SetPushed( int deltaTime );
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virtual const idVec3& GetPushedLinearVelocity( const int id ) const;
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virtual const idVec3& GetPushedAngularVelocity( const int id ) const;
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virtual void DisableGravity( bool disable ) { flags.noGravity = disable; }
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virtual void UnlinkClip( void );
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virtual void LinkClip( void );
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virtual void EnableClip( void );
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virtual void DisableClip( bool activateContacting = true );
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virtual int GetClipMask( int id ) const;
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virtual void SetClipMask( int mask, int id );
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virtual void DrawDebugInfo( void ) { DebugDraw(); }
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void ApplyImpulse( const idVec3& linearImpulse, const idVec3& angularImpulse );
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void CalculateMassProperties( void );
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void SetBodyOffset( int id, const idVec3& offset );
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void SetBodyBuoyancy( int id, float buoyancy );
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void SetBodyWaterDrag( int id, float drag );
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void SetBouncyness( const float b );
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void SetWaterRestThreshold( float threshold );
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void SetFriction( const float linear, const float angular );
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void SetWaterFriction( const float linear, const float angular );
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void SetContactFriction( const int id, const idVec3& contact );
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void SetFrozen( bool _frozen );
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const idVec3& GetPointVelocity( const idVec3& point, idVec3& velocity ) const;
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const idVec3& GetLinearMomentum( void ) const { return current->i.linearMomentum; }
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const idVec3& GetAngularMomentum( void ) const { return current->i.angularMomentum; }
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const idVec3& GetExternalLinearForce( void ) const { return current->externalForce; }
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const idVec3& GetExternalAngularForce( void ) const { return current->externalTorque; }
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virtual void ApplyNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& newState );
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virtual bool CheckNetworkStateChanges( networkStateMode_t mode, const sdEntityStateNetworkData& baseState ) const;
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virtual void WriteNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& baseState, sdEntityStateNetworkData& newState, idBitMsg& msg ) const;
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virtual void ReadNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& baseState, sdEntityStateNetworkData& newState, const idBitMsg& msg ) const;
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virtual sdEntityStateNetworkData* CreateNetworkStructure( networkStateMode_t mode ) const;
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bool SolveLCPConstraints( constraintInfo_t* constraints, int numConstraints, float deltaTime ) const;
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void ContactFriction( float deltaTime, bool addEntityConstraints );
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bool CheckForCollisions( trace_t &collision );
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bool CheckForCollisions_Simple( trace_t &collision );
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bool CheckForPlayerCollisions( float timeDelta, trace_t &collision, bool& noCollisionDamage );
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bool CheckForPlayerCollisions_Simple( float timeDelta, trace_t &collision, bool& noCollisionDamage );
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bool CollisionImpulse( const trace_t& collision, idVec3& impulse, idVec3& relativeVelocity, bool noCollisionDamage );
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void Integrate( float deltaTime );
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bool TestIfAtRest( void ) const;
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void DebugDraw( void );
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void Rest( int time );
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void PutToRest( void );
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void NoContact( void );
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virtual void Activate( void );
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virtual void EnableImpact( void );
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virtual void DisableImpact( void );
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void ClearClipModels( void );
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void SetFastPath( bool enabled ) { flags.useFastPath = enabled; }
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virtual void SetComeToRest( bool enabled ) { flags.comeToRest = enabled; }
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int GetBodyContacts( const int id, const contactInfo_t** contacts, int maxContacts ) const;
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int GetBodyGroundContacts( const int id, const contactInfo_t** _contacts, int maxContacts ) const;
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void SetContactFrictionEpsilonScale( int id, float scale );
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float GetMainMass( void ) const { return mainMass; }
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float GetMainInverseMass( void ) const { return mainInverseMass; }
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const idMat3& GetMainInertiaTensor( void ) const { return mainInertiaTensor; }
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const idMat3& GetMainInverseInertiaTensor( void ) const { return mainInverseInertiaTensor; }
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const idVec3& GetMainCenterOfMass( void ) const { return mainCenterOfMass; }
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const rigidBodyPState_t& GetCurrentState( void ) const { return *current; }
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float GetLinearFriction( void ) const { return linearFriction; }
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float GetAngularFriction( void ) const { return angularFriction; }
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float GetLinearWaterFriction( void ) const { return linearFrictionWater; }
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float GetAngularWaterFriction( void ) const { return angularFrictionWater; }
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void GetBodyOrigin( idVec3& org, int id ) const;
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const idVec3& GetBodyOffset( int id ) const;
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virtual float InWater( void ) const { return waterLevel; }
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const rbMultipleCollision_t& GetLastCollision( void ) const { return lastCollision; }
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int GetVPushClipMask() const;
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private:
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const idClipModel* CheckWater( void );
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private:
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rigidBodyPState_t state[2];
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rigidBodyPState_t * current;
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rigidBodyPState_t * next;
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rigidBodyPState_t saved;
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idVec3 localOrigin; // origin relative to master
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idMat3 localAxis; // axis relative to master
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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 linearFrictionWater; //
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float angularFrictionWater; //
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float bouncyness; // bouncyness
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float waterRestThreshold;
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idList< sdRigidBodyMulti_Body > bodies; // clip models used for collision detection
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contactInfoExt_t contactInfoExt[ RBM_MAX_CONTACTS ];
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// derived properties
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float mainMass; // mass of all bodies
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float mainInverseMass; // 1 / mass
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idVec3 mainCenterOfMass; // center of mass of entire object
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idBounds mainBounds;
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idBounds totalBounds;
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int mainClipMask; // OR of clipmask for all bodies
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idClipModel * mainClipModel;
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idClipModel * centeredMainClipModel;
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int activateEndTime; //
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idMat3 mainInertiaTensor; // mass distribution
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idMat3 mainInverseInertiaTensor; // inverse inertia tensor
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bool customInertiaTensor;
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idODE * integrator; // integrator
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idLCP* lcp; // lcp for contact force resolution
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typedef struct rbMultipleFlags_s {
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bool testSolid : 1; // true if testing for solid when dropping to the floor
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bool noImpact : 1; // if true do not activate when another object collides
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bool noContact : 1; // if true do not determine contacts and no contact friction
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bool isOrientated : 1;
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bool useFastPath : 1;
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bool comeToRest : 1;
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bool noGravity : 1;
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bool frozen : 1;
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} rbMultipleFlags_t;
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rbMultipleFlags_t flags;
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float waterLevel;
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// master
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idEntity * masterEntity;
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rbMultipleCollision_t lastCollision;
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int blockedTime;
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void SetupVPushCollection( void );
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sdClipModelCollection vpushCollection;
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};
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#endif // __PHYSICS_RIGIDBODYMULTIPLE_H__
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