physicsCommon.h

Public Typedefs

typedef StrongRefPtr< PhysicsCollision > PhysicsCollisionRef 

A strong reference to a physics collision shape.

typedef Signal< void(PhysicsResetEvent reset)> PhysicsResetSignal 

The signal for system wide physics events.

  1
  2//-----------------------------------------------------------------------------
  3// Copyright (c) 2012 GarageGames, LLC
  4//
  5// Permission is hereby granted, free of charge, to any person obtaining a copy
  6// of this software and associated documentation files (the "Software"), to
  7// deal in the Software without restriction, including without limitation the
  8// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  9// sell copies of the Software, and to permit persons to whom the Software is
 10// furnished to do so, subject to the following conditions:
 11//
 12// The above copyright notice and this permission notice shall be included in
 13// all copies or substantial portions of the Software.
 14//
 15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 20// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 21// IN THE SOFTWARE.
 22//-----------------------------------------------------------------------------
 23
 24#ifndef _T3D_PHYSICSCOMMON_H_
 25#define _T3D_PHYSICSCOMMON_H_
 26
 27#ifndef _MPOINT3_H_
 28#include "math/mPoint3.h"
 29#endif
 30#ifndef _MQUAT_H_
 31#include "math/mQuat.h"
 32#endif
 33#ifndef _MMATRIX_H_
 34#include "math/mMatrix.h"
 35#endif
 36#ifndef _REFBASE_H_
 37#include "core/util/refBase.h"
 38#endif
 39
 40
 41/// Helper structure which defines the state of a single physics body.
 42struct PhysicsState
 43{
 44   /// Constructor.
 45   PhysicsState()
 46      :  position( Point3F::Zero ),
 47         momentum( Point3F::Zero ),
 48         orientation( QuatF::Identity ),
 49         angularMomentum( Point3F::Zero ),
 50         sleeping( false ),
 51         linVelocity( Point3F::Zero ),
 52         angVelocity( Point3F::Zero )
 53   {
 54   }
 55
 56   /// The primary physics state.
 57   // @{
 58
 59   /// The position of the body.
 60   Point3F position;
 61  
 62   /// The momentum in kilogram meters per second.
 63   Point3F momentum;
 64
 65   /// The orientation of the body.
 66   QuatF orientation;
 67
 68   /// The angular momentum.
 69   Point3F angularMomentum; 
 70
 71   /// Is true if the shape is asleep.
 72   bool sleeping;
 73
 74   // @}
 75
 76   /// The secondary physics state derived from the primary state.
 77   /// @{
 78
 79   /// The linear velocity derived from the momentum.
 80   Point3F linVelocity;
 81
 82   /// 
 83   Point3F angVelocity;
 84
 85   /*
 86   Vector velocity;                ///< velocity in meters per second (calculated from momentum).
 87   Quaternion spin;                ///< quaternion rate of change in orientation.
 88   Vector angularVelocity;         ///< angular velocity (calculated from angularMomentum).
 89   Matrix bodyToWorld;             ///< body to world coordinates matrix.
 90   Matrix worldToBody;             ///< world to body coordinates matrix.
 91   */
 92
 93   /// @}
 94
 95
 96   /// Interpolates between two physics states leaving the 
 97   /// result in this physics state.
 98   inline PhysicsState& interpolate( const PhysicsState &a, const PhysicsState &b, F32 t )
 99   {
100      F32 inverseT = 1.0f - t;
101      position = a.position*inverseT + b.position*t;
102      momentum = a.momentum*inverseT + b.momentum*t;
103      orientation.interpolate( a.orientation, b.orientation, t );
104      angularMomentum = a.angularMomentum*inverseT + b.angularMomentum*t;
105
106      // Recalculate the velocities
107      //linVelocity = 
108      //angVelocity
109
110      return *this;
111   }
112
113   /// Helper builds the transform from the state.
114   inline MatrixF getTransform() const
115   {
116      MatrixF xfm;
117      orientation.setMatrix( &xfm );
118      xfm.setPosition( position );
119      return xfm;
120   }
121
122};
123
124
125/// The event type passed to the physics reset signal.
126/// @see PhysicsPlugin::getPhysicsResetSignal().
127enum PhysicsResetEvent
128{
129   PhysicsResetEvent_Store,
130   PhysicsResetEvent_Restore
131};
132
133/// The signal for system wide physics events.
134/// @see PhysicsPlugin
135typedef Signal<void(PhysicsResetEvent reset)> PhysicsResetSignal;
136
137class PhysicsCollision;
138
139/// A strong reference to a physics collision shape.
140typedef StrongRefPtr<PhysicsCollision> PhysicsCollisionRef;
141
142#endif // _T3D_PHYSICSCOMMON_H_
143