220 lines
8.3 KiB
C
220 lines
8.3 KiB
C
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// Copyright (C) 2007 Id Software, Inc.
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//
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#ifndef __PHYSICS_RIGIDBODY_H__
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#define __PHYSICS_RIGIDBODY_H__
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/*
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===================================================================================
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Rigid body physics
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Employs an impulse based dynamic simulation which is not very accurate but
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relatively fast and still reliable due to the continuous collision detection.
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===================================================================================
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*/
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#include "Physics_Base.h"
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typedef struct rigidBodyIState_s {
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idVec3 position; // position of trace model
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idMat3 orientation; // orientation of trace model
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idVec3 linearMomentum; // translational momentum relative to center of mass
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idVec3 angularMomentum; // rotational momentum relative to center of mass
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} rigidBodyIState_t;
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typedef struct rigidBodyPState_s {
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int atRest; // set when simulation is suspended
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float lastTimeStep; // length of last time step
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idVec6 pushVelocity; // push velocity
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idVec3 externalForce; // external force relative to center of mass
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idVec3 externalTorque; // external torque relative to center of mass
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rigidBodyIState_t i; // state used for integration
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} rigidBodyPState_t;
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class sdRigidBodyNetworkState : public sdEntityStateNetworkData {
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public:
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sdRigidBodyNetworkState( 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 position;
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idCQuat orientation;
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idVec3 linearVelocity;
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idVec3 angularVelocity;
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};
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class sdRigidBodyBroadcastState : public sdEntityStateNetworkData {
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public:
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sdRigidBodyBroadcastState( 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 localPosition;
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idCQuat localOrientation;
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int atRest;
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};
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class idPhysics_RigidBody : public idPhysics_Base {
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public:
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CLASS_PROTOTYPE( idPhysics_RigidBody );
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idPhysics_RigidBody( void );
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~idPhysics_RigidBody( void );
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// initialisation
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void SetFriction( const float linear, const float angular, const float contact );
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void SetWaterFriction( const float linear, const float angular );
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void SetBouncyness( const float b );
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void SetBuoyancy( float b );
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// same as above but drop to the floor first
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void DropToFloor( void );
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// no contact determination and contact friction
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void NoContact( void );
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// enable/disable activation by impact
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virtual void EnableImpact( void );
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virtual void DisableImpact( void );
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public: // common physics interface
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void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true );
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idClipModel * GetClipModel( int id = 0 ) const;
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int GetNumClipModels( void ) const;
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void SetMass( float mass, int id = -1 );
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float GetMass( int id = -1 ) const;
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virtual const idMat3& GetInertiaTensor( int id = -1 ) const { return inertiaTensor; }
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void SetContents( int contents, int id = -1 );
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int GetContents( int id = -1 ) const;
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const idBounds & GetBounds( int id = -1 ) const;
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const idBounds & GetAbsBounds( int id = -1 ) const;
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bool Evaluate( int timeStepMSec, int endTimeMSec );
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void UpdateTime( int endTimeMSec );
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int GetTime( void ) const;
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void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const;
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void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse );
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void AddForce( const int id, const idVec3 &point, const idVec3 &force );
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void Activate( void );
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void PutToRest( void );
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bool IsAtRest( void ) const;
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int GetRestStartTime( void ) const;
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bool IsPushable( void ) const;
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void SaveState( void );
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void RestoreState( void );
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void SetOrigin( const idVec3 &newOrigin, int id = -1 );
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void SetAxis( const idMat3 &newAxis, int id = -1 );
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void Translate( const idVec3 &translation, int id = -1 );
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void Rotate( const idRotation &rotation, int id = -1 );
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const idVec3 & GetOrigin( int id = 0 ) const;
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const idMat3 & GetAxis( int id = 0 ) const;
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virtual const idVec3& GetCenterOfMass() const { return centerOfMass; }
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void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 );
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void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 );
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const idVec3 & GetLinearVelocity( int id = 0 ) const;
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const idVec3 & GetAngularVelocity( int id = 0 ) const;
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void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const;
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void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const;
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int ClipContents( const idClipModel *model ) const;
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void UnlinkClip( void );
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void LinkClip( void );
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void DisableClip( bool activateContacting = true );
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void EnableClip( void );
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bool EvaluateContacts( CLIP_DEBUG_PARMS_DECLARATION_ONLY );
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void SetPushed( int deltaTime );
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const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const;
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const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const;
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void SetMaster( idEntity *master, const bool orientated );
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void SetApplyImpulse( bool i ) { noApplyImpulse = !i; }
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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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virtual void DrawDebugInfo( void ) { DebugDraw(); }
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virtual float InWater( void ) const { return waterLevel; }
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private:
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void CheckWater( void );
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private:
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// state of the rigid body
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rigidBodyPState_t current;
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rigidBodyPState_t saved;
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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 bouncyness; // bouncyness
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float linearFrictionWater; // translational friction when in water
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float angularFrictionWater; // rotational friction when in water
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float contactFriction; // friction with contact surfaces
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float buoyancy;
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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
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// derived properties
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float mass; // mass of body
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float inverseMass; // 1 / mass
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idVec3 centerOfMass; // center of mass of trace model
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idMat3 inertiaTensor; // mass distribution
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idMat3 inverseInertiaTensor; // inverse inertia tensor
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idODE * integrator; // integrator
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bool dropToFloor; // true if dropping to the floor and putting to rest
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bool testSolid; // true if testing for solid when dropping to the floor
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bool noImpact; // if true do not activate when another object collides
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bool noContact; // if true do not determine contacts and no contact friction
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bool noApplyImpulse; // if true do not apply an impulse to another object when colliding
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// master
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bool hasMaster;
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bool isOrientated;
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float waterLevel;
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private:
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friend void RigidBodyDerivatives( const float t, const void *clientData, const float *state, float *derivatives );
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void Integrate( const float deltaTime, rigidBodyPState_t &next );
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bool CheckForCollisions( const float deltaTime, rigidBodyPState_t &next, trace_t &collision );
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bool CollisionImpulse( const trace_t &collision, idVec3 &impulse );
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void ContactFriction( float deltaTime );
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void DropToFloorAndRest( void );
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bool TestIfAtRest( void ) const;
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void Rest( void );
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void DebugDraw( void );
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};
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#endif /* !__PHYSICS_RIGIDBODY_H__ */
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