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Minor CPhysicsActor fixes

This commit is contained in:
Phillip Stephens 2020-12-13 14:57:21 -08:00
parent 82c62b0312
commit 1e8aa2581e
Signed by: Antidote
GPG Key ID: F8BEE4C83DACA60D
2 changed files with 18 additions and 27 deletions
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32
Runtime/World/CPhysicsActor.cpp
View File

@ -10,14 +10,13 @@ CPhysicsActor::CPhysicsActor(TUniqueId uid, bool active, std::string_view name,
float stepUp, float stepDown) float stepUp, float stepDown)
: CActor(uid, active, name, info, xf, std::move(mData), matList, actorParms, kInvalidUniqueId) : CActor(uid, active, name, info, xf, std::move(mData), matList, actorParms, kInvalidUniqueId)
, xe8_mass(moverData.x30_mass) , xe8_mass(moverData.x30_mass)
, xec_massRecip(moverData.x30_mass <= 0.f ? 1.f : 1.f / moverData.x30_mass) , xec_massRecip(moverData.x30_mass > 0.f ? 1.f / moverData.x30_mass : 1.f)
, x150_momentum(moverData.x18_momentum) , x150_momentum(moverData.x18_momentum)
, x1a4_baseBoundingBox(box) , x1a4_baseBoundingBox(box)
, x1c0_collisionPrimitive(box, matList) , x1c0_collisionPrimitive(box, matList)
, x1f4_lastNonCollidingState(xf.origin, xf.buildMatrix3f()) , x1f4_lastNonCollidingState(xf.origin, xf.buildMatrix3f())
, x23c_stepUpHeight(stepUp) , x23c_stepUpHeight(stepUp)
, x240_stepDownHeight(stepDown) { , x240_stepDownHeight(stepDown) {
xf8_24_movable = true;
SetMass(moverData.x30_mass); SetMass(moverData.x30_mass);
MoveCollisionPrimitive(zeus::skZero3f); MoveCollisionPrimitive(zeus::skZero3f);
SetVelocityOR(moverData.x0_velocity); SetVelocityOR(moverData.x0_velocity);
@ -78,7 +77,7 @@ zeus::CAABox CPhysicsActor::GetMotionVolume(float dt) const {
} }
zeus::CVector3f CPhysicsActor::CalculateNewVelocityWR_UsingImpulses() const { zeus::CVector3f CPhysicsActor::CalculateNewVelocityWR_UsingImpulses() const {
return x138_velocity + (xec_massRecip * (x168_impulse + x18c_moveImpulse)); return x138_velocity + xec_massRecip * (x168_impulse + x18c_moveImpulse);
} }
zeus::CAABox CPhysicsActor::GetBoundingBox() const { zeus::CAABox CPhysicsActor::GetBoundingBox() const {
@ -92,8 +91,9 @@ void CPhysicsActor::AddMotionState(const CMotionState& mst) {
zeus::CNUQuaternion q{x34_transform.buildMatrix3f()}; zeus::CNUQuaternion q{x34_transform.buildMatrix3f()};
q += mst.xc_orientation; q += mst.xc_orientation;
zeus::CQuaternion quat = zeus::CQuaternion::fromNUQuaternion(q); zeus::CQuaternion quat = zeus::CQuaternion::fromNUQuaternion(q);
//if (TCastToPtr<CPlayer>(this)) { // if (TCastToPtr<CPlayer>(this)) {
// printf("ADD %f %f %f\n", float(mst.x0_translation.x()), float(mst.x0_translation.y()), float(mst.x0_translation.z())); // printf("ADD %f %f %f\n", float(mst.x0_translation.x()), float(mst.x0_translation.y()),
// float(mst.x0_translation.z()));
//} //}
SetTransform(zeus::CTransform(quat, x34_transform.origin)); SetTransform(zeus::CTransform(quat, x34_transform.origin));
@ -132,7 +132,7 @@ void CPhysicsActor::SetMass(float mass) {
tensor = 1.0f / mass; tensor = 1.0f / mass;
xec_massRecip = tensor; xec_massRecip = tensor;
SetInertiaTensorScalar(mass / 6.f); SetInertiaTensorScalar(0.16666667f * mass);
} }
void CPhysicsActor::SetAngularVelocityOR(const zeus::CAxisAngle& angVel) { void CPhysicsActor::SetAngularVelocityOR(const zeus::CAxisAngle& angVel) {
@ -177,11 +177,11 @@ void CPhysicsActor::MoveToOR(const zeus::CVector3f& trans, float d) {
} }
void CPhysicsActor::MoveToInOneFrameWR(const zeus::CVector3f& trans, float d) { void CPhysicsActor::MoveToInOneFrameWR(const zeus::CVector3f& trans, float d) {
x18c_moveImpulse += xe8_mass * (trans - x34_transform.origin) * (1.f / d); x18c_moveImpulse += (1.f / d) * xe8_mass * (trans - x34_transform.origin);
} }
void CPhysicsActor::MoveToWR(const zeus::CVector3f& trans, float d) { void CPhysicsActor::MoveToWR(const zeus::CVector3f& trans, float d) {
xfc_constantForce = xe8_mass * (trans - x34_transform.origin) * (1.f / d); xfc_constantForce = (1.f / d) * xe8_mass * (trans - x34_transform.origin);
ComputeDerivedQuantities(); ComputeDerivedQuantities();
} }
@ -193,7 +193,7 @@ zeus::CAxisAngle CPhysicsActor::GetRotateToORAngularMomentumWR(const zeus::CQuat
} }
zeus::CVector3f CPhysicsActor::GetMoveToORImpulseWR(const zeus::CVector3f& trans, float d) const { zeus::CVector3f CPhysicsActor::GetMoveToORImpulseWR(const zeus::CVector3f& trans, float d) const {
return (xe8_mass * x34_transform.rotate(trans)) * (1.f / d); return (1.f / d) * xe8_mass * x34_transform.rotate(trans);
} }
void CPhysicsActor::ClearImpulses() { void CPhysicsActor::ClearImpulses() {
@ -220,10 +220,8 @@ void CPhysicsActor::ComputeDerivedQuantities() {
} }
bool CPhysicsActor::WillMove(const CStateManager&) const { bool CPhysicsActor::WillMove(const CStateManager&) const {
return !zeus::close_enough(zeus::skZero3f, x138_velocity) || return !zeus::close_enough(zeus::skZero3f, x138_velocity) || !zeus::close_enough(zeus::skZero3f, x168_impulse) ||
!zeus::close_enough(zeus::skZero3f, x168_impulse) || !zeus::close_enough(zeus::skZero3f, x174_torque) || !zeus::close_enough(zeus::skZero3f, x18c_moveImpulse) ||
!zeus::close_enough(zeus::skZero3f, x174_torque) ||
!zeus::close_enough(zeus::skZero3f, x18c_moveImpulse) ||
!zeus::close_enough(zeus::skZero3f, x144_angularVelocity) || !zeus::close_enough(zeus::skZero3f, x144_angularVelocity) ||
!zeus::close_enough(zeus::skZero3f, x180_angularImpulse) || !zeus::close_enough(zeus::skZero3f, x180_angularImpulse) ||
!zeus::close_enough(zeus::skZero3f, x198_moveAngularImpulse) || !zeus::close_enough(zeus::skZero3f, x198_moveAngularImpulse) ||
@ -269,17 +267,15 @@ CMotionState CPhysicsActor::PredictMotion(float dt) const {
CMotionState CPhysicsActor::PredictLinearMotion(float dt) const { CMotionState CPhysicsActor::PredictLinearMotion(float dt) const {
zeus::CVector3f velocity = CalculateNewVelocityWR_UsingImpulses(); zeus::CVector3f velocity = CalculateNewVelocityWR_UsingImpulses();
return {velocity * dt, return {dt * velocity, zeus::CNUQuaternion(0.f, zeus::skZero3f), (dt * (x15c_force + x150_momentum)) + x168_impulse,
{0.f, zeus::skZero3f},
((x15c_force + x150_momentum) * dt) + x168_impulse,
zeus::CAxisAngle()}; zeus::CAxisAngle()};
} }
CMotionState CPhysicsActor::PredictAngularMotion(float dt) const { CMotionState CPhysicsActor::PredictAngularMotion(float dt) const {
const zeus::CVector3f v1 = xf4_inertiaTensorRecip * (x180_angularImpulse + x198_moveAngularImpulse); const zeus::CVector3f v1 = xf4_inertiaTensorRecip * (x180_angularImpulse + x198_moveAngularImpulse);
zeus::CNUQuaternion q = 0.5f * zeus::CNUQuaternion(0.f, x144_angularVelocity.getVector() + v1); zeus::CNUQuaternion q = 0.5f * zeus::CNUQuaternion(0.f, x144_angularVelocity.getVector() + v1);
CMotionState ret = {zeus::skZero3f, (q * zeus::CNUQuaternion(x34_transform.buildMatrix3f())) * dt, CMotionState ret = {zeus::skZero3f, (q * zeus::CNUQuaternion(x34_transform.buildMatrix3f())) * dt, zeus::skZero3f,
zeus::skZero3f, (x174_torque * dt) + x180_angularImpulse}; (x174_torque * dt) + x180_angularImpulse};
return ret; return ret;
} }

13
Runtime/World/CPhysicsActor.hpp
View File

@ -81,15 +81,10 @@ class CPhysicsActor : public CActor {
protected: protected:
float xe8_mass; float xe8_mass;
float xec_massRecip; float xec_massRecip;
float xf0_inertiaTensor; float xf0_inertiaTensor = 0.f;
float xf4_inertiaTensorRecip; float xf4_inertiaTensorRecip = 0.f;
union { bool xf8_24_movable : 1 = true;
struct { bool xf8_25_angularEnabled : 1 = false;
bool xf8_24_movable : 1;
bool xf8_25_angularEnabled : 1;
};
u8 _dummy = 0;
};
bool xf9_standardCollider = false; bool xf9_standardCollider = false;
zeus::CVector3f xfc_constantForce; zeus::CVector3f xfc_constantForce;
zeus::CAxisAngle x108_angularMomentum; zeus::CAxisAngle x108_angularMomentum;