Initial Prey Game integration support.

2026-08-20 04:30:12 +02:00 · 2026-05-05 15:01:01 -07:00
parent a6c6f1ed26
commit 8d5f678b25
552 changed files with 265551 additions and 209 deletions
@@ -0,0 +1,179 @@
+// Copyright (C) 2004 Id Software, Inc.
+//
+
+#ifndef __PHYSICS_RIGIDBODY_H__
+#define __PHYSICS_RIGIDBODY_H__
+
+/*
+===================================================================================
+
+	Rigid body physics
+
+	Employs an impulse based dynamic simulation which is not very accurate but
+	relatively fast and still reliable due to the continuous collision detection.
+
+===================================================================================
+*/
+
+extern const float	RB_VELOCITY_MAX;
+extern const int	RB_VELOCITY_TOTAL_BITS;
+extern const int	RB_VELOCITY_EXPONENT_BITS;
+extern const int	RB_VELOCITY_MANTISSA_BITS;
+
+typedef struct rididBodyIState_s {
+	idVec3					position;					// position of trace model
+	idMat3					orientation;				// orientation of trace model
+	idVec3					linearMomentum;				// translational momentum relative to center of mass
+	idVec3					angularMomentum;			// rotational momentum relative to center of mass
+} rigidBodyIState_t;
+
+typedef struct rigidBodyPState_s {
+	int						atRest;						// set when simulation is suspended
+	float					lastTimeStep;				// length of last time step
+	idVec3					localOrigin;				// origin relative to master
+	idMat3					localAxis;					// axis relative to master
+	idVec6					pushVelocity;				// push velocity
+	idVec3					externalForce;				// external force relative to center of mass
+	idVec3					externalTorque;				// external torque relative to center of mass
+	rigidBodyIState_t		i;							// state used for integration
+} rigidBodyPState_t;
+
+class idPhysics_RigidBody : public idPhysics_Base {
+
+public:
+
+	CLASS_PROTOTYPE( idPhysics_RigidBody );
+
+							idPhysics_RigidBody( void );
+							~idPhysics_RigidBody( void );
+
+	void					Save( idSaveGame *savefile ) const;
+	void					Restore( idRestoreGame *savefile );
+
+							// initialisation
+	void					SetFriction( const float linear, const float angular, const float contact );
+	void					SetBouncyness( const float b );
+							// same as above but drop to the floor first
+	void					DropToFloor( void );
+							// no contact determination and contact friction
+	void					NoContact( void );
+							// enable/disable activation by impact
+	void					EnableImpact( void );
+	void					DisableImpact( void );
+
+public:	// common physics interface
+	void					SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true );
+	idClipModel *			GetClipModel( int id = 0 ) const;
+	int						GetNumClipModels( void ) const;
+
+	void					SetMass( float mass, int id = -1 );
+	float					GetMass( int id = -1 ) const;
+
+	void					SetContents( int contents, int id = -1 );
+	int						GetContents( int id = -1 ) const;
+
+	const idBounds &		GetBounds( int id = -1 ) const;
+	const idBounds &		GetAbsBounds( int id = -1 ) const;
+
+	bool					Evaluate( int timeStepMSec, int endTimeMSec );
+	void					UpdateTime( int endTimeMSec );
+	int						GetTime( void ) const;
+
+	void					GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const;
+	void					ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse );
+	void					AddForce( const int id, const idVec3 &point, const idVec3 &force );
+	void					Activate( void );
+	void					PutToRest( void );
+	bool					IsAtRest( void ) const;
+	int						GetRestStartTime( void ) const;
+	bool					IsPushable( void ) const;
+
+	void					SaveState( void );
+	void					RestoreState( void );
+
+	void					SetOrigin( const idVec3 &newOrigin, int id = -1 );
+	void					SetAxis( const idMat3 &newAxis, int id = -1 );
+
+	void					Translate( const idVec3 &translation, int id = -1 );
+	void					Rotate( const idRotation &rotation, int id = -1 );
+
+	const idVec3 &			GetOrigin( int id = 0 ) const;
+	const idMat3 &			GetAxis( int id = 0 ) const;
+
+	void					SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 );
+	void					SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 );
+
+	const idVec3 &			GetLinearVelocity( int id = 0 ) const;
+	const idVec3 &			GetAngularVelocity( int id = 0 ) const;
+
+	void					ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const;
+	void					ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const;
+	int						ClipContents( const idClipModel *model ) const;
+
+	void					DisableClip( void );
+	void					EnableClip( void );
+
+	void					UnlinkClip( void );
+	void					LinkClip( void );
+
+	bool					EvaluateContacts( void );
+
+	void					SetPushed( int deltaTime );
+	const idVec3 &			GetPushedLinearVelocity( const int id = 0 ) const;
+	const idVec3 &			GetPushedAngularVelocity( const int id = 0 ) const;
+
+	void					SetMaster( idEntity *master, const bool orientated );
+
+	void					WriteToSnapshot( idBitMsgDelta &msg ) const;
+	void					ReadFromSnapshot( const idBitMsgDelta &msg );
+
+	//HUMANHEAD: aob
+	const idVec3&			GetCenterOfMass() const { return centerOfMass; }
+
+protected:	// HUMANHEAD
+	// state of the rigid body
+	rigidBodyPState_t		current;
+	rigidBodyPState_t		saved;
+
+	// rigid body properties
+	float					linearFriction;				// translational friction
+	float					angularFriction;			// rotational friction
+	float					contactFriction;			// friction with contact surfaces
+	float					bouncyness;					// bouncyness
+	idClipModel *			clipModel;					// clip model used for collision detection
+
+	// derived properties
+	float					mass;						// mass of body
+	float					inverseMass;				// 1 / mass
+	idVec3					centerOfMass;				// center of mass of trace model
+	idMat3					inertiaTensor;				// mass distribution
+	idMat3					inverseInertiaTensor;		// inverse inertia tensor
+
+	idODE *					integrator;					// integrator
+	bool					dropToFloor;				// true if dropping to the floor and putting to rest
+	bool					testSolid;					// true if testing for solid when dropping to the floor
+	bool					noImpact;					// if true do not activate when another object collides
+	bool					noContact;					// if true do not determine contacts and no contact friction
+
+	// master
+	bool					hasMaster;
+	bool					isOrientated;
+
+protected:	// HUMANHEAD
+	friend void				RigidBodyDerivatives( const float t, const void *clientData, const float *state, float *derivatives );
+	virtual	// HUMANHEAD: made virtual
+	void					Integrate( const float deltaTime, rigidBodyPState_t &next );
+	virtual	// HUMANHEAD: made virtual
+	bool					CheckForCollisions( const float deltaTime, rigidBodyPState_t &next, trace_t &collision );
+	bool					CollisionImpulse( const trace_t &collision, idVec3 &impulse );
+	void					ContactFriction( float deltaTime );
+	void					DropToFloorAndRest( void );
+	bool					TestIfAtRest( void ) const;
+	void					Rest( void );
+	void					DebugDraw( void );
+	// HUMANHEAD pdm: testing
+	void					TestForRotation(const char *text);
+	// HUMANHEAD pdm: testing
+};
+
+#endif /* !__PHYSICS_RIGIDBODY_H__ */