221 lines
8.2 KiB
C++
221 lines
8.2 KiB
C++
// Copyright (C) 2007 Id Software, Inc.
|
|
//
|
|
|
|
#ifndef __PHYSICS_SIMPLERIGIDBODY_H__
|
|
#define __PHYSICS_SIMPLERIGIDBODY_H__
|
|
|
|
/*
|
|
===================================================================================
|
|
|
|
"Simple" rigid body physics
|
|
|
|
Mimics a rigid body, but isn't a rigid body at all - this is more akin
|
|
to Q1/2/3 grenades than a rigid body, but outwardly seems very rigid-body-like
|
|
|
|
===================================================================================
|
|
*/
|
|
|
|
#include "Physics_Base.h"
|
|
|
|
typedef struct simpleRigidBodyPState_s {
|
|
int atRest; // set when simulation is suspended
|
|
float lastTimeStep; // length of last time step
|
|
idVec6 pushVelocity; // push velocity
|
|
|
|
// dynamic state
|
|
idVec3 position; // position of trace model
|
|
idMat3 orientation; // orientation of trace model
|
|
idVec3 linearVelocity; // translational velocity relative to center of mass
|
|
idVec3 angularVelocity; // rotational velocity relative to center of mass
|
|
} simpleRigidBodyPState_t;
|
|
|
|
class sdSimpleRigidBodyNetworkState : public sdEntityStateNetworkData {
|
|
public:
|
|
sdSimpleRigidBodyNetworkState( void ) { ; }
|
|
|
|
virtual void MakeDefault( void );
|
|
|
|
virtual void Write( idFile* file ) const;
|
|
virtual void Read( idFile* file );
|
|
|
|
idVec3 position;
|
|
idCQuat orientation;
|
|
idVec3 linearVelocity;
|
|
idVec3 angularVelocity;
|
|
};
|
|
|
|
class sdSimpleRigidBodyBroadcastState : public sdEntityStateNetworkData {
|
|
public:
|
|
sdSimpleRigidBodyBroadcastState( void ) { ; }
|
|
|
|
virtual void MakeDefault( void );
|
|
|
|
virtual void Write( idFile* file ) const;
|
|
virtual void Read( idFile* file );
|
|
|
|
idVec3 localPosition;
|
|
idCQuat localOrientation;
|
|
int atRest;
|
|
bool orientedClip;
|
|
};
|
|
|
|
class sdPhysics_SimpleRigidBody : public idPhysics_Base {
|
|
|
|
public:
|
|
|
|
CLASS_PROTOTYPE( sdPhysics_SimpleRigidBody );
|
|
|
|
sdPhysics_SimpleRigidBody( void );
|
|
~sdPhysics_SimpleRigidBody( void );
|
|
|
|
// initialisation
|
|
void SetFriction( const float linear, const float angular, const float contact ) { ; }
|
|
void SetWaterFriction( const float linear, const float angular );
|
|
void SetBouncyness( const float b );
|
|
void SetBouncyness( float normal, float tangential, float angular );
|
|
void SetStopSpeed( float stopSpeed );
|
|
|
|
void SetBuoyancy( float b );
|
|
// same as above but drop to the floor first
|
|
void DropToFloor( void );
|
|
// no contact determination and contact friction
|
|
void NoContact( void );
|
|
// enable/disable activation by impact
|
|
virtual void EnableImpact( void );
|
|
virtual void DisableImpact( void );
|
|
|
|
public: // common physics interface
|
|
void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true );
|
|
idClipModel * GetClipModel( int id = 0 ) const;
|
|
int GetNumClipModels( void ) const;
|
|
|
|
void SetMass( float mass, int id = -1 );
|
|
float GetMass( int id = -1 ) const;
|
|
|
|
virtual const idMat3& GetInertiaTensor( int id = -1 ) const { return inertiaTensor; }
|
|
|
|
void SetContents( int contents, int id = -1 );
|
|
int GetContents( int id = -1 ) const;
|
|
|
|
const idBounds & GetBounds( int id = -1 ) const;
|
|
const idBounds & GetAbsBounds( int id = -1 ) const;
|
|
|
|
bool Evaluate( int timeStepMSec, int endTimeMSec );
|
|
void UpdateTime( int endTimeMSec );
|
|
int GetTime( void ) const;
|
|
|
|
void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const;
|
|
void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse );
|
|
void AddForce( const int id, const idVec3 &point, const idVec3 &force );
|
|
void Activate( void );
|
|
void PutToRest( void );
|
|
bool IsAtRest( void ) const;
|
|
int GetRestStartTime( void ) const;
|
|
bool IsPushable( void ) const;
|
|
|
|
void SaveState( void );
|
|
void RestoreState( void );
|
|
|
|
void SetOrigin( const idVec3 &newOrigin, int id = -1 );
|
|
void SetAxis( const idMat3 &newAxis, int id = -1 );
|
|
|
|
void Translate( const idVec3 &translation, int id = -1 );
|
|
void Rotate( const idRotation &rotation, int id = -1 );
|
|
|
|
const idVec3 & GetOrigin( int id = 0 ) const;
|
|
const idMat3 & GetAxis( int id = 0 ) const;
|
|
|
|
virtual const idVec3& GetCenterOfMass() const { return centerOfMass; }
|
|
|
|
void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 );
|
|
void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 );
|
|
|
|
const idVec3 & GetLinearVelocity( int id = 0 ) const;
|
|
const idVec3 & GetAngularVelocity( int id = 0 ) const;
|
|
|
|
void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const;
|
|
void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const;
|
|
int ClipContents( const idClipModel *model ) const;
|
|
|
|
void UnlinkClip( void );
|
|
void LinkClip( void );
|
|
void DisableClip( bool activateContacting = true );
|
|
void EnableClip( void );
|
|
|
|
bool EvaluateContacts( CLIP_DEBUG_PARMS_DECLARATION_ONLY );
|
|
|
|
void SetPushed( int deltaTime );
|
|
const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const;
|
|
const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const;
|
|
|
|
void SetMaster( idEntity *master, const bool orientated );
|
|
|
|
virtual void ApplyNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& newState );
|
|
virtual bool CheckNetworkStateChanges( networkStateMode_t mode, const sdEntityStateNetworkData& baseState ) const;
|
|
virtual void WriteNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& baseState, sdEntityStateNetworkData& newState, idBitMsg& msg ) const;
|
|
virtual void ReadNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& baseState, sdEntityStateNetworkData& newState, const idBitMsg& msg ) const;
|
|
virtual sdEntityStateNetworkData* CreateNetworkStructure( networkStateMode_t mode ) const;
|
|
|
|
virtual void DrawDebugInfo( void ) { DebugDraw(); }
|
|
|
|
virtual float InWater( void ) const { return waterLevel; }
|
|
|
|
void SetClipOriented( bool oriented ) { orientedClip = oriented; LinkClip(); }
|
|
|
|
private:
|
|
void CheckWater( void );
|
|
|
|
private:
|
|
// state of the rigid body
|
|
simpleRigidBodyPState_t current;
|
|
simpleRigidBodyPState_t saved;
|
|
idVec3 localOrigin; // origin relative to master
|
|
idMat3 localAxis; // axis relative to master
|
|
idVec3 lastCollideNormal;
|
|
|
|
// rigid body properties
|
|
float normalBouncyness; // bouncyness normal to the surface
|
|
float tangentialBouncyness; // bouncyness tangential to the surface
|
|
float stopSpeed; // bounce speed at which it will stop moving
|
|
float angularBouncyness; // scales the angular veocity on a bounce
|
|
|
|
float linearFrictionWater; // translational friction when in water
|
|
float angularFrictionWater; // rotational friction when in water
|
|
|
|
float buoyancy;
|
|
idClipModel * clipModel; // clip model used for collision detection
|
|
idClipModel * centeredClipModel; // clip model at the center of mass
|
|
|
|
// derived properties
|
|
float mass; // mass of body
|
|
float inverseMass; // 1 / mass
|
|
idVec3 centerOfMass; // center of mass of trace model
|
|
idMat3 inertiaTensor; // mass distribution
|
|
idMat3 inverseInertiaTensor; // inverse inertia tensor
|
|
|
|
bool dropToFloor; // true if dropping to the floor and putting to rest
|
|
bool testSolid; // true if testing for solid when dropping to the floor
|
|
bool noImpact; // if true do not activate when another object collides
|
|
bool noContact; // if true do not determine contacts and no contact friction
|
|
|
|
// master
|
|
bool hasMaster;
|
|
bool isOrientated;
|
|
float waterLevel;
|
|
|
|
bool orientedClip;
|
|
|
|
const sdProgram::sdFunction* restFunc;
|
|
|
|
private:
|
|
void Integrate( const float deltaTime, simpleRigidBodyPState_t &next );
|
|
bool CheckForCollisions( const float deltaTime, simpleRigidBodyPState_t &next, trace_t &collision );
|
|
bool CollisionResponse( const trace_t &collision, idVec3 &impulse );
|
|
void DropToFloorAndRest( void );
|
|
bool TestIfAtRest( void ) const;
|
|
void Rest( void );
|
|
void DebugDraw( void );
|
|
};
|
|
|
|
#endif /* !__PHYSICS_SIMPLERIGIDBODY_H__ */
|