/***************************************************************************** The Dark Mod GPL Source Code This file is part of the The Dark Mod Source Code, originally based on the Doom 3 GPL Source Code as published in 2011. The Dark Mod Source Code is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. For details, see LICENSE.TXT. Project: The Dark Mod (http://www.thedarkmod.com/) ******************************************************************************/ #ifndef __PHYSICS_RIGIDBODY_H__ #define __PHYSICS_RIGIDBODY_H__ /* =================================================================================== Rigid body physics Employs an impulse based dynamic simulation which is not very accurate but relatively fast and still reliable due to the continuous collision detection. =================================================================================== */ typedef struct rididBodyIState_s { idVec3 position; // position of trace model idMat3 orientation; // orientation of trace model idVec3 linearMomentum; // translational momentum relative to center of mass idVec3 angularMomentum; // rotational momentum relative to center of mass } rigidBodyIState_t; typedef struct rigidBodyPState_s { int atRest; // set when simulation is suspended float lastTimeStep; // length of last time step idVec3 localOrigin; // origin relative to master idMat3 localAxis; // axis relative to master idVec6 pushVelocity; // push velocity idForceApplicationList forceApplications; // stgatilov #5992: list of individual external forces applied rigidBodyIState_t i; // state used for integration } rigidBodyPState_t; class idPhysics_RigidBody : public idPhysics_Base { public: CLASS_PROTOTYPE( idPhysics_RigidBody ); idPhysics_RigidBody( void ); virtual ~idPhysics_RigidBody( void ) override; void Save( idSaveGame *savefile ) const; void Restore( idRestoreGame *savefile ); // initialisation void SetFriction( const float linear, const float angular, const float contact ); void SetBouncyness( const 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 void EnableImpact( void ); void DisableImpact( void ); public: // common physics interface virtual void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true ) override; virtual idClipModel * GetClipModel( int id = 0 ) const override; virtual int GetNumClipModels( void ) const override; virtual void SetMass( float mass, int id = -1 ) override; virtual float GetMass( int id = -1 ) const override; virtual void SetContents( int contents, int id = -1 ) override; virtual int GetContents( int id = -1 ) const override; virtual const idBounds &GetBounds( int id = -1 ) const override; virtual const idBounds &GetAbsBounds( int id = -1 ) const override; virtual bool Evaluate( int timeStepMSec, int endTimeMSec ) override; virtual void UpdateTime( int endTimeMSec ) override; virtual int GetTime( void ) const override; virtual void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const override; virtual void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse ) override; /** * greebo: This is similar to ApplyImpulse, although this distributes the impulse * on all entities in contact with this one in *this* very frame. If * no entities are in contact, all the impulse gets applied to this one. */ virtual bool PropagateImpulse(const int id, const idVec3& point, const idVec3& impulse) override; virtual void AddForce( const int bodyId, const idVec3 &point, const idVec3 &force, const idForceApplicationId &applId ) override; virtual void Activate( void ) override; virtual void PutToRest( void ) override; virtual bool IsAtRest( void ) const override; virtual int GetRestStartTime( void ) const override; virtual bool IsPushable( void ) const override; virtual void SaveState( void ) override; virtual void RestoreState( void ) override; virtual void SetOrigin( const idVec3 &newOrigin, int id = -1 ) override; virtual void SetAxis( const idMat3 &newAxis, int id = -1 ) override; virtual void Translate( const idVec3 &translation, int id = -1 ) override; virtual void Rotate( const idRotation &rotation, int id = -1 ) override; virtual const idVec3 & GetOrigin( int id = 0 ) const override; virtual const idMat3 & GetAxis( int id = 0 ) const override; virtual void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 ) override; virtual void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 ) override; virtual const idVec3 & GetLinearVelocity( int id = 0 ) const override; virtual const idVec3 & GetAngularVelocity( int id = 0 ) const override; // tels: force and torque that make entitiy "break down" when exceeded void SetMaxForce( const idVec3 &newMaxForce ); void SetMaxTorque( const idVec3 &newMaxTorque ); const idVec3 & GetMaxForce( void ) const; const idVec3 & GetMaxTorque( void ) const; virtual void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const override; virtual void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const override; virtual int ClipContents( const idClipModel *model ) const override; /** * greebo: Override empty default implementation of idPhysics_Base::GetBlockingEntity(). */ virtual const trace_t* GetBlockingInfo( void ) const override; virtual idEntity * GetBlockingEntity( void ) const override; void DampenMomentums(float linear, float angular); virtual void DisableClip( void ) override; virtual void EnableClip( void ) override; virtual void UnlinkClip( void ) override; virtual void LinkClip( void ) override; virtual bool EvaluateContacts( void ) override; virtual void SetPushed( int deltaTime ) override; virtual const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const override; virtual const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const override; virtual void SetMaster( idEntity *master, const bool orientated ) override; virtual void WriteToSnapshot( idBitMsgDelta &msg ) const override; virtual void ReadFromSnapshot( const idBitMsgDelta &msg ) override; private: // state of the rigid body rigidBodyPState_t current; rigidBodyPState_t saved; // rigid body properties float linearFriction; // translational friction float angularFriction; // rotational friction float contactFriction; // friction with contact surfaces float bouncyness; // bouncyness #ifdef MOD_WATERPHYSICS float volume; // MOD_WATERPHYSICS object volume #endif // MOD_WATERPHYSICS idClipModel * clipModel; // clip model used for collision detection // tels: if the applied impulse/torque exceeds these values, the entity breaks down idVec3 maxForce; // spawnarg "max_force" idVec3 maxTorque; // spawnarg "max_torque" // stgatilov #5992: accumulated force/torque right now idVec3 externalForce; // external force relative to center of mass idVec3 externalTorque; // external torque relative to center of mass idVec3 externalForcePoint; // point where the externalForce is being applied at // 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 idODE * integrator; // integrator 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; /** * greebo: This saved the collision information when this object is in "bind slave mode". */ trace_t collisionTrace; bool isBlocked; bool propagateImpulseLock; #ifdef MOD_WATERPHYSICS // buoyancy int noMoveTime; // MOD_WATERPHYSICS suspend simulation if hardly any movement for this many seconds #endif private: friend void RigidBodyDerivatives( const float t, const void *clientData, const float *state, float *derivatives ); void Integrate( const float deltaTime, rigidBodyPState_t &next ); bool CheckForCollisions( const float deltaTime, rigidBodyPState_t &next, trace_t &collision ); public: bool CollisionImpulse( const trace_t &collision, idVec3 &impulse ); private: void ContactFriction( float deltaTime ); void SmallMassContactFriction( float deltaTime ); // grayman #3452 void DropToFloorAndRest( void ); #ifdef MOD_WATERPHYSICS bool TestIfAtRest( void ); #else // MOD_WATERPHYSICS bool TestIfAtRest( void ) const; #endif // MOD_WATERPHYSICS void Rest( void ); void DebugDraw( void ); #ifdef MOD_WATERPHYSICS // Buoyancy stuff // Approximates the center of mass of the submerged portion of the rigid body. virtual bool GetBuoyancy( const idVec3 &pos, const idMat3 &rotation, idVec3 &bCenter, float &percent ) const; // MOD_WATERPHYSICS // Returns rough a percentage of which percent of the body is in water. virtual float GetSubmergedPercent( const idVec3 &pos, const idMat3 &rotation ) const; // MOD_WATERPHYSICS #endif }; #endif /* !__PHYSICS_RIGIDBODY_H__ */