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Updated physics module (Still experimental)

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Former-commit-id: 4852b7cf6eca5ba3177397586877fe3d3c39dbd9
This commit is contained in:
Lynix
2013-06-24 13:33:54 +02:00
parent 050f9c2eb7
commit 0e3a4fa90b
6 changed files with 296 additions and 74 deletions
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137
src/Nazara/Physics/PhysObject.cpp
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@@ -1,4 +1,4 @@
// Copyright (C) 2013 Jérôme Leclercq
// Copyright (C) 2013 Jérôme Leclercq
// This file is part of the "Nazara Engine - Physics module"
// For conditions of distribution and use, see copyright notice in Config.hpp
@@ -12,6 +12,7 @@
NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat) :
m_matrix(mat),
m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()),
m_world(world),
m_ownsGeom(true),
m_gravityFactor(1.f),
@@ -23,13 +24,14 @@ m_mass(0.f)
#endif
m_geom = new NzNullGeom(world);
m_body = NewtonCreateBody(world->GetHandle(), m_geom->GetHandle(), mat);
m_body = NewtonCreateDynamicBody(world->GetHandle(), m_geom->GetHandle(), mat);
NewtonBodySetUserData(m_body, this);
}
NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzBaseGeom* geom, const NzMatrix4f& mat) :
m_matrix(mat),
m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()),
m_geom(geom),
m_world(world),
m_ownsGeom(false),
@@ -41,7 +43,7 @@ m_mass(0.f)
NazaraError("Invalid physics world"); ///TODO: Unexcepted
#endif
m_body = NewtonCreateBody(world->GetHandle(), geom->GetHandle(), mat);
m_body = NewtonCreateDynamicBody(world->GetHandle(), geom->GetHandle(), mat);
NewtonBodySetUserData(m_body, this);
}
@@ -53,24 +55,109 @@ NzPhysObject::~NzPhysObject()
delete m_geom;
}
void NzPhysObject::AddForce(const NzVector3f& force, nzCoordSys coordSys)
{
switch (coordSys)
{
case nzCoordSys_Global:
m_forceAccumulator += force;
break;
case nzCoordSys_Local:
m_forceAccumulator += GetRotation()*force;
break;
}
// On réveille le corps pour que le callback soit appelé et que les forces soient appliquées
NewtonBodySetSleepState(m_body, 0);
}
void NzPhysObject::AddForce(const NzVector3f& force, const NzVector3f& point, nzCoordSys coordSys)
{
switch (coordSys)
{
case nzCoordSys_Global:
m_forceAccumulator += force;
m_torqueAccumulator += NzVector3f::CrossProduct(point - GetMassCenter(nzCoordSys_Global), force);
break;
case nzCoordSys_Local:
AddForce(m_matrix.Transform(force, 0.f), m_matrix.Transform(point));
return;
}
// On réveille le corps pour que le callback soit appelé et que les forces soient appliquées
NewtonBodySetSleepState(m_body, 0);
}
void NzPhysObject::AddTorque(const NzVector3f& torque, nzCoordSys coordSys)
{
switch (coordSys)
{
case nzCoordSys_Global:
m_torqueAccumulator += torque;
break;
case nzCoordSys_Local:
m_torqueAccumulator += m_matrix.Transform(torque, 0.f);
break;
}
// On réveille le corps pour que le callback soit appelé et que les forces soient appliquées
NewtonBodySetSleepState(m_body, 0);
}
void NzPhysObject::EnableAutoSleep(bool autoSleep)
{
NewtonBodySetAutoSleep(m_body, autoSleep);
}
NzVector3f NzPhysObject::GetAngularVelocity() const
{
NzVector3f angularVelocity;
NewtonBodyGetOmega(m_body, angularVelocity);
return angularVelocity;
}
float NzPhysObject::GetGravityFactor() const
{
return m_gravityFactor;
}
NewtonBody* NzPhysObject::GetHandle() const
{
return m_body;
}
float NzPhysObject::GetMass() const
{
return m_mass;
}
NzVector3f NzPhysObject::GetMassCenter() const
NzVector3f NzPhysObject::GetMassCenter(nzCoordSys coordSys) const
{
NzVector3f center;
NewtonBodyGetCentreOfMass(m_body, center);
switch (coordSys)
{
case nzCoordSys_Global:
center = m_matrix.Transform(center);
break;
case nzCoordSys_Local:
break; // Aucune opération à effectuer sur le centre de rotation
}
return center;
}
const NzMatrix4f& NzPhysObject::GetMatrix() const
{
return m_matrix;
}
NzVector3f NzPhysObject::GetPosition() const
{
return m_matrix.GetTranslation();
@@ -89,11 +176,26 @@ NzVector3f NzPhysObject::GetVelocity() const
return velocity;
}
bool NzPhysObject::IsAutoSleepEnabled() const
{
return NewtonBodyGetAutoSleep(m_body) != 0;
}
bool NzPhysObject::IsMoveable() const
{
return m_mass > 0.f;
}
bool NzPhysObject::IsSleeping() const
{
return NewtonBodyGetSleepState(m_body) != 0;
}
void NzPhysObject::SetGravityFactor(float gravityFactor)
{
m_gravityFactor = gravityFactor;
}
void NzPhysObject::SetMass(float mass)
{
if (m_mass > 0.f)
@@ -117,12 +219,31 @@ void NzPhysObject::SetMass(float mass)
m_mass = mass;
}
void NzPhysObject::SetMassCenter(NzVector3f center)
void NzPhysObject::SetMassCenter(const NzVector3f& center)
{
if (m_mass > 0.f)
NewtonBodySetCentreOfMass(m_body, center);
}
void NzPhysObject::SetPosition(const NzVector3f& position)
{
m_matrix.SetTranslation(position);
UpdateBody();
}
void NzPhysObject::SetRotation(const NzQuaternionf& rotation)
{
m_matrix.SetRotation(rotation);
UpdateBody();
}
void NzPhysObject::UpdateBody()
{
NewtonBodySetMatrix(m_body, m_matrix);
/*for (std::set<PhysObjectListener*>::iterator it = m_listeners.begin(); it != m_listeners.end(); ++it)
(*it)->PhysObjectOnUpdate(this);*/
}
void NzPhysObject::ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex)
{
NazaraUnused(timeStep);
@@ -137,10 +258,10 @@ void NzPhysObject::ForceAndTorqueCallback(const NewtonBody* body, float timeStep
(*it)->PhysObjectApplyForce(me);*/
NewtonBodySetForce(body, me->m_forceAccumulator);
me->m_forceAccumulator.Set(0.f);
NewtonBodySetTorque(body, me->m_torqueAccumulator);
/*NewtonBodyAddTorque(body, &me->m_torqueAccumulator.x);
me->m_torqueAccumulator = 0.f;*/
me->m_torqueAccumulator.Set(0.f);
me->m_forceAccumulator.Set(0.f);
///TODO: Implanter la force gyroscopique?
}