void CPhysicsObject::CalculateVelocityOffset( const Vector &forceVector, const Vector &worldPosition, Vector ¢erVelocity, AngularImpulse ¢erAngularVelocity )
{
IVP_U_Point pos;
IVP_U_Float_Point force;
ConvertForceImpulseToIVP( forceVector, force );
ConvertPositionToIVP( worldPosition, pos );
IVP_Core *core = m_pObject->get_core();
const IVP_U_Matrix *m_world_f_core = core->get_m_world_f_core_PSI();
IVP_U_Float_Point point_d_ws;
point_d_ws.subtract(&pos, m_world_f_core->get_position());
IVP_U_Float_Point cross_point_dir;
cross_point_dir.calc_cross_product( &point_d_ws, &force);
m_world_f_core->inline_vimult3( &cross_point_dir, &cross_point_dir);
cross_point_dir.set_pairwise_mult( &cross_point_dir, core->get_inv_rot_inertia());
ConvertAngularImpulseToHL( cross_point_dir, centerAngularVelocity );
force.set_multiple( &force, core->get_inv_mass() );
ConvertForceImpulseToHL( force, centerVelocity );
}
void ConvertShadowControllerToHL( const shadowcontrol_params_t &in, hlshadowcontrol_params_t &out )
{
ConvertPositionToHL( in.targetPosition, out.targetPosition );
ConvertRotationToHL( in.targetRotation, out.targetRotation );
out.teleportDistance = ConvertDistanceToHL( in.teleportDistance );
ConvertForceImpulseToHL( in.maxSpeed, out.maxSpeed);
VectorAbs( out.maxSpeed, out.maxSpeed );
ConvertAngularImpulseToHL( in.maxAngular, out.maxAngular );
VectorAbs( out.maxAngular, out.maxAngular );
out.dampFactor = in.dampFactor;
}
void CPhysicsObject::GetImplicitVelocity(Vector *velocity, AngularImpulse *angularVelocity) const {
if (!velocity && !angularVelocity) return;
// gets the velocity actually moved by the object in the last simulation update
btTransform frameMotion = m_pObject->getWorldTransform().inverse() * m_pObject->getInterpolationWorldTransform();
if (velocity)
ConvertPosToHL(frameMotion.getOrigin(), *velocity);
if (angularVelocity)
ConvertAngularImpulseToHL(frameMotion.getRotation().getAxis() * frameMotion.getRotation().getAngle(), *angularVelocity);
}
void CPhysicsObject::GetVelocity(Vector *velocity, AngularImpulse *angularVelocity) const {
if (!velocity && !angularVelocity) return;
if (velocity)
ConvertPosToHL(m_pObject->getLinearVelocity(), *velocity);
// Angular velocity is supplied in local space.
if (angularVelocity) {
btVector3 angVel = m_pObject->getAngularVelocity();
angVel = m_pObject->getWorldTransform().getBasis().transpose() * angVel;
ConvertAngularImpulseToHL(angVel, *angularVelocity);
}
}
// Output passed to ApplyForceCenter/ApplyTorqueCenter
void CPhysicsObject::CalculateForceOffset(const Vector &forceVector, const Vector &worldPosition, Vector *centerForce, AngularImpulse *centerTorque) const {
if (!centerForce && !centerTorque) return;
btVector3 pos, force;
ConvertPosToBull(worldPosition, pos);
ConvertForceImpulseToBull(forceVector, force);
pos = pos - m_pObject->getWorldTransform().getOrigin();
btVector3 cross = pos.cross(force);
if (centerForce) {
ConvertForceImpulseToHL(force, *centerForce);
}
if (centerTorque) {
ConvertAngularImpulseToHL(cross, *centerTorque);
}
}
void CPhysicsObject::GetVelocity( Vector *velocity, AngularImpulse *angularVelocity )
{
if ( !velocity && !angularVelocity )
return;
IVP_Core *core = m_pObject->get_core();
if ( velocity )
{
IVP_U_Float_Point speed;
speed.add( &core->speed, &core->speed_change );
ConvertPositionToHL( speed, *velocity );
}
if ( angularVelocity )
{
IVP_U_Float_Point rotSpeed;
rotSpeed.add( &core->rot_speed, &core->rot_speed_change );
// xform to HL space
ConvertAngularImpulseToHL( rotSpeed, *angularVelocity );
}
}
void CPhysicsObject::CalculateForceOffset( const Vector &forceVector, const Vector &worldPosition, Vector ¢erForce, AngularImpulse ¢erTorque )
{
IVP_U_Point pos;
IVP_U_Float_Point force;
ConvertPositionToIVP( forceVector, force );
ConvertPositionToIVP( worldPosition, pos );
IVP_Core *core = m_pObject->get_core();
const IVP_U_Matrix *m_world_f_core = core->get_m_world_f_core_PSI();
IVP_U_Float_Point point_d_ws;
point_d_ws.subtract(&pos, m_world_f_core->get_position());
IVP_U_Float_Point cross_point_dir;
cross_point_dir.calc_cross_product( &point_d_ws, &force);
m_world_f_core->inline_vimult3( &cross_point_dir, &cross_point_dir);
ConvertAngularImpulseToHL( cross_point_dir, centerTorque );
ConvertForceImpulseToHL( force, centerForce );
}
// Thrusters call this and pass output to AddVelocity
void CPhysicsObject::CalculateVelocityOffset(const Vector &forceVector, const Vector &worldPosition, Vector *centerVelocity, AngularImpulse *centerAngularVelocity) const {
if (!centerVelocity && !centerAngularVelocity) return;
btVector3 force, pos;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(worldPosition, pos);
pos = pos - m_pObject->getWorldTransform().getOrigin();
btVector3 cross = pos.cross(force);
// cross.set_pairwise_mult( &cross, core->get_inv_rot_inertia());
// Linear velocity
if (centerVelocity) {
force *= m_pObject->getInvMass();
ConvertForceImpulseToHL(force, *centerVelocity);
}
if (centerAngularVelocity) {
ConvertAngularImpulseToHL(cross, *centerAngularVelocity);
}
}
void CPhysicsObject::GetVelocity(Vector* velocity, AngularImpulse* angularVelocity) const {
if (velocity) ConvertPosToHL(m_pObject->getLinearVelocity(), *velocity);
if (angularVelocity) ConvertAngularImpulseToHL(m_pObject->getAngularVelocity(), *angularVelocity);
}
