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Improving match of CPhysicsActor

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Former-commit-id: 629a014207
This commit is contained in:
Henrique Gemignani Passos Lima
2022-10-18 02:53:49 +03:00
parent e3d6fb4111
commit d00cfae24e
4 changed files with 75 additions and 31 deletions
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90
src/MetroidPrime/CPhysicsActor.cpp
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@@ -91,8 +91,8 @@ CPhysicsState CPhysicsActor::GetPhysicsState() const {
void CPhysicsActor::SetPhysicsState(const CPhysicsState& state) {
SetTranslation(state.GetTranslation());
CQuaternion quat = state.GetOrientationWR();
CVector3f translation = GetTranslation();
const CQuaternion& quat = state.GetOrientationWR();
const CVector3f& translation = GetTranslation();
SetTransform(quat.BuildTransform4f(translation));
SetConstantForceWR(state.GetConstantForceWR());
SetAngularMomentumWR(state.GetAngularMomentumWR());
@@ -105,43 +105,71 @@ void CPhysicsActor::SetPhysicsState(const CPhysicsState& state) {
}
CVector3f CPhysicsActor::CalculateNewVelocityWR_UsingImpulses() const {
float impX;
float impY;
float impZ;
float masRecip;
float moveImpX;
float moveImpY;
float moveImpZ;
float velX;
float velY;
float velZ;
impX = x168_impulse.GetX();
impY = x168_impulse.GetY();
impZ = x168_impulse.GetZ();
moveImpX = x18c_moveImpulse.GetX();
moveImpY = x18c_moveImpulse.GetY();
moveImpZ = x18c_moveImpulse.GetZ();
masRecip = xec_massRecip;
velY = x138_velocity.GetY();
velZ = x138_velocity.GetZ();
return CVector3f(velX + masRecip * (impX + moveImpX), velY + masRecip * (impY + moveImpY),
velZ + masRecip * (impZ + moveImpZ));
return x138_velocity + xec_massRecip * (x168_impulse + x18c_moveImpulse);
}
CMotionState CPhysicsActor::PredictMotion(float dt) const {}
CMotionState CPhysicsActor::PredictMotion(float dt) const {
const CMotionState& msl = PredictLinearMotion(dt);
CVector3f translation = msl.GetTranslation();
CVector3f velocity = msl.GetVelocity();
CMotionState CPhysicsActor::PredictAngularMotion(float dt) const {}
const CMotionState& msa = PredictAngularMotion(dt);
CNUQuaternion orientation = msa.GetOrientation();
CAxisAngle angularMomentum = msa.GetAngularMomentum();
CMotionState CPhysicsActor::PredictLinearMotion(float dt) const {}
return CMotionState(translation, orientation, velocity, angularMomentum);
}
CMotionState CPhysicsActor::PredictMotion_Internal(float dt) const {}
CMotionState CPhysicsActor::PredictAngularMotion(float dt) const {
CVector3f v1 = (x180_angularImpulse.GetVector() + x198_moveAngularImpulse.GetVector()) *
xf4_inertiaTensorRecip;
CVector3f v2 = x144_angularVelocity.GetVector() + v1;
void CPhysicsActor::SetMotionState(const CMotionState& state) {}
CNUQuaternion q3 = (0.5f * CNUQuaternion(0.f, v2)) *
CNUQuaternion::BuildFromQuaternion(CQuaternion::FromMatrix(GetTransform()));
CAxisAngle torque = x174_torque;
return CMotionState(CVector3f::Zero(), q3 * dt, CVector3f::Zero(),
(torque * dt) + x180_angularImpulse);
}
CMotionState CPhysicsActor::PredictLinearMotion(float dt) const {
CVector3f velocity = CalculateNewVelocityWR_UsingImpulses();
CVector3f sum = x15c_force + x150_momentum;
return CMotionState(dt * velocity, CNUQuaternion(0.0f, CVector3f::Zero()),
dt * sum + x168_impulse, CAxisAngle::Identity());
}
CMotionState CPhysicsActor::PredictMotion_Internal(float dt) const {
if (!xf8_25_angularEnabled) {
const CMotionState& msl = PredictLinearMotion(dt);
CVector3f translation = msl.GetTranslation();
CVector3f velocity = msl.GetVelocity();
const CMotionState& msa = PredictAngularMotion(dt);
CNUQuaternion orientation = msa.GetOrientation();
CAxisAngle angularMomentum = msa.GetAngularMomentum();
return CMotionState(translation, orientation, velocity, angularMomentum);
} else {
return PredictLinearMotion(dt);
}
}
void CPhysicsActor::SetMotionState(const CMotionState& state) {
const CQuaternion& q = CQuaternion::FromNUQuaternion(state.GetOrientation());
SetTransform(q.BuildTransform4f(x34_transform.GetTranslation()));
SetTranslation(state.GetTranslation());
xfc_constantForce = state.GetVelocity();
x108_angularMomentum = state.GetAngularMomentum();
ComputeDerivedQuantities();
}
CMotionState CPhysicsActor::GetMotionState() const {
CNUQuaternion nquat(CNUQuaternion::BuildFromQuaternion(GetRotation()));
const CNUQuaternion& nquat = CNUQuaternion::BuildFromQuaternion(GetRotation());
return CMotionState(GetTranslation(), nquat, GetConstantForceWR(), GetAngularMomentumWR());
}