XMFLOAT3 Transform::GetForwardVector()
{
XMVECTOR forward = XMVector3Rotate(XMVectorSet(0.0f, 0.0f, 1.0f, 0.0f), XMQuaternionRotationRollPitchYawFromVector(XMLoadFloat3(&rotation)));
XMFLOAT3 realForward;
XMStoreFloat3(&realForward, forward);
return realForward;
}
void Transform::MoveRelative(float addX, float addY, float addZ)
{
isDirty = true;
XMVECTOR dir = XMVector3Rotate(XMVectorSet(addX, addY, addZ, 0.0f),
XMQuaternionRotationRollPitchYawFromVector(XMLoadFloat3(&rotation)));
XMStoreFloat3(&position, XMVectorAdd(dir, XMLoadFloat3(&position)));
}
Box::Box(float x, float y, float z, XMVECTOR position, float mass, bool fixed, XMVECTOR orientation)
{
this->position = position; // its the center position of the box
this->velocity = XMVectorSet(0.f, 0.f, 0.f, 0.f);
length = XMVectorSet(x, y, z, 0.f);
centerOfMass = Point(position, false);
this->transform = XMMatrixTranslationFromVector(this->position);
this->centerOfMass.fixed = fixed;
this->orientation = XMQuaternionRotationRollPitchYawFromVector(orientation);
if (fixed)
{
centerOfMass.mass = 1.0f;
massInverse = 0.0f;
intertiaTensorInverse = XMMATRIX();
}
else
{
centerOfMass.mass = mass;
massInverse = 1.0f / mass;
float prefix = (1.0f / 12.0f) * centerOfMass.mass;
XMMATRIX matrix = XMMATRIX(XMVectorSet(prefix*(y*y + z*z), 0.f, 0.f, 0.f),
XMVectorSet(0.f, prefix * (x*x + z*z), 0.f, 0.f),
XMVectorSet(0.f, 0.f, prefix*(x*x + y*y),0.f),
XMVectorSet(0.f, 0.f, 0.f, 1.f));
intertiaTensorInverse = XMMatrixInverse(&XMMatrixDeterminant(matrix), matrix);
}
XMVECTOR xLength = XMVectorSet(x, 0.f, 0.f, 0.f) / 2;
XMVECTOR yLength = XMVectorSet(0.f, y, 0.f, 0.f) / 2;
XMVECTOR zLength = XMVectorSet(0.f, 0.f, z, 0.f) / 2;
for (int i = 0; i < 8; i++)
{
corners[0] = XMVECTOR();
}
this->angularMomentum = XMVECTOR();
this->angularVelocity = XMVECTOR();
this->torqueAccumulator = XMVECTOR();
corners[0] = -xLength - yLength - zLength;
corners[1] = xLength - yLength - zLength;
corners[2] = -xLength + yLength - zLength;
corners[3] = xLength + yLength - zLength;
corners[4] = -xLength - yLength + zLength;
corners[5] = xLength - yLength + zLength;
corners[6] = -xLength + yLength + zLength;
corners[7] = xLength + yLength + zLength;
}
XMFLOAT4X4 Transform::RecalculateWorldMatrix()
{
//TODO: figure out a better way to handle rotaions
if (!GetIsDirty()) return worldMatrix;//Dont know if I want to keep it.
XMMATRIX allignedWorldMatrix = XMLoadFloat4x4(&worldMatrix);
if (parent == nullptr) {
XMMATRIX calculatedWorldMatrix =
XMMatrixScalingFromVector(XMLoadFloat3(&scale)) * //XMMatrixRotationRollPitchYawFromVector(XMLoadFloat3(&rotation)) *
//XMMatrixRotationX(rotation.x) * XMMatrixRotationY(rotation.y) * XMMatrixRotationZ(rotation.z) *
XMMatrixRotationQuaternion(XMQuaternionRotationRollPitchYawFromVector(XMLoadFloat3(&rotation))) *
XMMatrixTranslationFromVector(XMLoadFloat3(&position));
XMStoreFloat4x4(&worldMatrix, XMMatrixTranspose(calculatedWorldMatrix));
} else {
XMMATRIX calculatedWorldMatrix =
XMMatrixScalingFromVector(XMLoadFloat3(&scale)) * //XMMatrixRotationRollPitchYawFromVector(XMLoadFloat3(&rotation)) *
XMMatrixRotationQuaternion(XMQuaternionRotationRollPitchYawFromVector(XMLoadFloat3(&rotation))) *
XMMatrixTranslationFromVector(XMLoadFloat3(&position));
XMStoreFloat4x4(&worldMatrix, XMMatrixTranspose(
XMMatrixMultiply(XMMatrixTranspose(XMLoadFloat4x4(&parent->GetWorldMatrix())), calculatedWorldMatrix)));
}
return worldMatrix;
}
void D3DCamera::Render(XMVECTOR translate, XMVECTOR rotate, bool move, bool playback)
{
XMVECTOR upVector, lookAtVector, rightVector;
XMMATRIX rotationMatrix;
rightVector = XMVectorSet(1.0f, 0.0f, 0.0f, 0.0f);
upVector = XMVectorSet(0.0f, 1.0f, 0.0f, 0.0f);
lookAtVector = XMVectorSet(0.0f, 0.0f, 1.0f, 0.0f);
if (move)
{
XMVECTOR quaternion = XMQuaternionRotationRollPitchYawFromVector(rotate);
quaternion = XMQuaternionNormalize(quaternion);
m_rotation = XMQuaternionMultiply(quaternion, m_rotation);
}
if (playback) m_rotation = rotate;
rotationMatrix = XMMatrixRotationQuaternion(m_rotation);
// Transform the lookAt and up vector by the rotation matrix so the view is correctly rotated at the origin.
lookAtVector = XMVector3TransformCoord(lookAtVector, rotationMatrix);
upVector = XMVector3TransformCoord(upVector, rotationMatrix);
rightVector = XMVector3TransformCoord(upVector, rotationMatrix);
if (move)
{
translate = XMVector3TransformCoord(translate, rotationMatrix);
translate = XMVectorSetW(translate, 0);
m_position += translate;
}
if (playback) m_position = translate;
// Translate the rotated camera position to the location of the viewer.
lookAtVector = XMVectorAdd(m_position, lookAtVector);
m_lookAtVector.x = lookAtVector.m128_f32[0];
m_lookAtVector.y = lookAtVector.m128_f32[1];
m_lookAtVector.z = lookAtVector.m128_f32[2];
// Finally create the view matrix from the three updated vectors.
m_viewMatrix = XMMatrixLookAtLH(m_position, lookAtVector, upVector);
return;
}
