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More CPhysicsActor

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Former-commit-id: 248a703cb4
This commit is contained in:
Phillip Stephens
2022-10-05 10:24:06 -07:00
parent ceb9bf4132
commit 2d128edc26
6 changed files with 88 additions and 36 deletions
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65
src/MetroidPrime/CPhysicsActor.cpp
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@@ -8,24 +8,26 @@ CPhysicsActor::CPhysicsActor(TUniqueId uid, bool active, const rstl::string& nam
: CActor(uid, active, name, info, xf, mData, matList, actParams, kInvalidUniqueId)
, xe8_mass(moverData.x30_mass)
, xec_massRecip(moverData.x30_mass > 0.f ? 1.f / moverData.x30_mass : 1.f)
, xf0_inertiaTensor(0.f)
, xf4_inertiaTensorRecip(0.f)
, xf8_24_movable(true)
, xf8_25_angularEnabled(false)
, xf9_standardCollider(false)
, xfc_constantForce(CVector3f::Zero())
, xfc_constantForce(CVector3f(0.f, 0.f, 0.f))
, x108_angularMomentum(CAxisAngle::Identity())
, x114_(CMatrix3f::Identity())
, x138_velocity(CVector3f::Zero())
, x138_velocity(CVector3f(0.f, 0.f, 0.f))
, x144_angularVelocity(CAxisAngle::Identity())
, x150_momentum(moverData.x18_momentum)
, x15c_force(CVector3f::Zero())
, x168_impulse(CVector3f::Zero())
, x15c_force(CVector3f(0.f, 0.f, 0.f))
, x168_impulse(CVector3f(0.f, 0.f, 0.f))
, x174_torque(CAxisAngle::Identity())
, x180_angularImpulse(CAxisAngle::Identity())
, x18c_moveImpulse(CVector3f::Zero())
, x18c_moveImpulse(CVector3f(0.f, 0.f, 0.f))
, x198_moveAngularImpulse(CAxisAngle::Identity())
, x1a4_baseBoundingBox(aabb)
, x1c0_collisionPrimitive(aabb, matList)
, x1e8_primitiveOffset(CVector3f::Zero())
, x1e8_primitiveOffset(xf.GetTranslation())
, x1f4_lastNonCollidingState(xf.GetTranslation(),
CNUQuaternion::BuildFromMatrix3f(xf.BuildMatrix3f()),
CVector3f::Zero(), CAxisAngle::Identity())
@@ -43,10 +45,57 @@ CPhysicsActor::CPhysicsActor(TUniqueId uid, bool active, const rstl::string& nam
ComputeDerivedQuantities();
}
CPhysicsActor::~CPhysicsActor() {}
void CPhysicsActor::ApplyImpulseWR(const CVector3f& impulse, const CAxisAngle& angularImpulse) {
x168_impulse = x168_impulse + impulse;
x168_impulse = x168_impulse + impulse;
x180_angularImpulse = x180_angularImpulse + angularImpulse;
}
void CPhysicsActor::ApplyTorqueWR(const CVector3f& torque) {
x174_torque = x174_torque + CAxisAngle(torque);
}
void CPhysicsActor::ApplyForceWR(const CVector3f& force, const CAxisAngle& torque) {
x15c_force = x15c_force + force;
x174_torque = x174_torque + torque;
}
void CPhysicsActor::ApplyImpulseOR(const CVector3f& impulse, const CAxisAngle& angle) {
x168_impulse = x168_impulse + x34_transform.Rotate(impulse);
CAxisAngle rotatedAngle(x34_transform.Rotate(angle.GetVector()));
x180_angularImpulse = x180_angularImpulse + rotatedAngle;
}
void CPhysicsActor::ApplyForceOR(const CVector3f& force, const CAxisAngle& torque) {
x15c_force = x15c_force + x34_transform.Rotate(force);
CAxisAngle rotatedTorque(x34_transform.Rotate(torque.GetVector()));
x174_torque = x174_torque + rotatedTorque;
}
void CPhysicsActor::ComputeDerivedQuantities() {
x138_velocity = xfc_constantForce * xec_massRecip;
x114_ = x34_transform.BuildMatrix3f();
x144_angularVelocity = CAxisAngle(x108_angularMomentum.GetVector() * xf4_inertiaTensorRecip);
}
CPhysicsState CPhysicsActor::GetPhysicsState() const {
CQuaternion quat(CQuaternion::FromMatrix(x34_transform));
return CPhysicsState(GetTranslation(), quat, xfc_constantForce, x108_angularMomentum,
x150_momentum, x15c_force, x168_impulse, x174_torque, x180_angularImpulse);
}
void CPhysicsActor::SetPhysicsState(const CPhysicsState& state) {
SetTranslation(state.GetTranslation());
CQuaternion quat(state.GetOrientationWR());
SetTransform(quat.BuildTransform4f(GetTranslation()));
xfc_constantForce = state.GetConstantForceWR();
x108_angularMomentum = state.GetAngularMomentumWR();
x150_momentum = state.GetMomentumWR();
x15c_force = state.GetForceWR();
x168_impulse = state.GetImpulseWR();
x174_torque = state.GetTorque();
x180_angularImpulse = state.GetAngularImpulseWR();
ComputeDerivedQuantities();
}