Justin Marshall
224 lines
7.8 KiB
C++
224 lines
7.8 KiB
C++
#pragma once
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#include "gamelib/physics/afconstraint.h"
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#include "gamelib/physics/aftree.h"
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#include "gamelib/physics/physics_dynamicbase.h"
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#include "idlib/containers/staticlist.h"
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#include "idlib/math/fader.h"
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#include "idlib/math/lcp.h"
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class idSerializer;
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struct AFPState_t {
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bool atRest;
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float noMoveTime;
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float activateTime;
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idVec6 pushVelocity;
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idVec6 auxVelocity;
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};
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class idPhysics_AF : public idPhysics_DynamicBase {
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public:
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struct noclipBodyInfo_t {
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int bodyId;
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int originalClipMask;
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idClipQuery query;
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};
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idPhysics_AF();
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~idPhysics_AF() override;
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void SetClipModel(idClipModel*, float, int, bool) override;
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idClipModel* GetClipModel(int) override;
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int GetNumClipModels() override;
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void SetMass(float, int) override;
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float GetMass(int) override;
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void SetContents(int, int) override;
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int GetContents(int) override;
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void SetClipMask(int, int) override;
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int GetClipMask(int) override;
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const idBounds* GetBounds(int) override;
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const idBounds* GetAbsBounds(int) override;
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void SetOrigin(const idVec3*, int) override;
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void SetAxis(const idMat3*, int) override;
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void Translate(const idVec3*, int) override;
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void Rotate(const idRotation*, int) override;
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const idVec3* GetOrigin(int) override;
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const idMat3* GetAxis(int) override;
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const idVec3* GetLocalOrigin(int) override;
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const idMat3* GetLocalAxis(int) override;
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void SetLinearVelocity(const idVec3*, int) override;
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void SetAngularVelocity(const idVec3*, int) override;
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idVec3* GetLinearVelocity(idVec3*, int) override;
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idVec3* GetAngularVelocity(idVec3*, int) override;
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void SetWaterEntNum(int) override;
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int GetWaterEntNum() override;
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void SetWaterSurfaceWrldHeight(float) override;
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float GetWaterSurfaceWrldHeight() override;
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void GetImpactInfo(int, const idVec3*, impactInfo_t*) override;
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void ApplyImpulse(int, const idVec3*, const idVec3*) override;
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void ApplyForce(int, const idVec3*, const idVec3*) override;
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void Activate() override;
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void PutToRest() override;
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bool IsAtRest() override;
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bool IsPushable(int) override;
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void SaveState() override;
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void RestoreState() override;
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bool Evaluate(int, int) override;
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void UpdateTime(int) override;
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void ClipTranslation(trace_t*, const idVec3*,
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const idClipModel*) override;
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void ClipRotation(trace_t*, const idRotation*,
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const idClipModel*) override;
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int ClipContents(const idClipModel*, int) override;
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void DisableClip() override;
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void EnableClip() override;
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void UnlinkClip() override;
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void LinkClip() override;
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bool EvaluateContacts() override;
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void SetPushed(int) override;
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idVec3* GetPushedLinearVelocity(idVec3*, int) override;
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idVec3* GetPushedAngularVelocity(idVec3*, int) override;
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void SetMaster(bool, const idVec3*, const idMat3*,
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bindFlags_t) override;
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void SetLocalOrigin(const idVec3*, int) override;
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void SetLocalAxis(const idMat3*, int) override;
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int GetBlockingEntityNum() override;
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int GetLinearEndTime() override;
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int GetAngularEndTime() override;
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void Serialize(idSerializer*);
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void Shutdown();
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void SetSuspendTime(float minTime, float maxTime);
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void SetSuspendTolerance(float translation, float rotation,
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float noMoveTime_);
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void SetSuspendSpeed(const idVec2& velocity,
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const idVec2& acceleration);
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void SetTimeScaleRamp(float start, float end);
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void SetJointFrictionDent(float dent, float start, float end);
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void SetContactFrictionDent(float dent, float start, float end);
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void SetDefaultFriction(float linear, float angular, float contact);
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float GetJointFrictionScale() const;
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float GetContactFrictionScale() const;
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void SetAuxAngularVelocity(const idVec3&);
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void ForceBodyId(idAFBody*, int newId);
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int GetBodyId(const idAFBody*) const;
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idAFBody* GetBody(const char* name) const;
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idAFBody* GetBody(int id) const;
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idAFConstraint* GetConstraint(const char* name) const;
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idAFConstraint* GetConstraint(int id) const;
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int AddBody(idAFBody*);
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void DeleteBody(int);
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void AddConstraint(idAFConstraint*);
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void DeleteConstraint(int);
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void DeleteConstraint(const char* name);
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void AddFrameConstraint(idAFConstraint*);
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int AddNoclipBody(int bodyId);
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void ApplyFriction(float timeStep, float endTimeMSec);
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void PrimaryFactor();
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void PrimaryForces(float timeStep);
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void AuxiliaryForces(float timeStep);
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void AddGravity();
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void UpdateClipModels();
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bool TestIfAtRest(float timeStep);
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void EvaluateBodies(float timeStep);
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void EvaluateConstraints(float timeStep);
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void CollisionImpulse(idAFBody*, const trace_t&, float timeStep);
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void IssueCollisionQueries();
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void ResolveCollisions(float timeStep);
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void AddFrameConstraints();
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void RemoveFrameConstraints();
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void SetupContactConstraints(float timeStep);
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void AddContacts(idAFBody*, const contactsResult_t&);
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void TestNoclipBodies();
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void Evolve(float timeStep);
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void BuildTrees();
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void DebugDraw();
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float GetLcpEpsilon(float timeStep) const;
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float GetErrorReduction(float timeStep) const;
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float GetErrorReductionMax(float timeStep) const;
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float GetLimitErrorReduction(float timeStep) const;
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float GetLimitErrorReductionMax(float timeStep) const;
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float GetLimitLcpEpsilon(float timeStep) const;
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float GetContactErrorReduction(float timeStep) const;
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float GetContactErrorReductionMax(float timeStep) const;
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float GetContactLcpEpsilon(float timeStep) const;
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float GetUniversalErrorReduction(float timeStep) const;
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float GetUniversalTorsionLcpEpsilon(float timeStep) const;
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idList<idAFTree*, 71> trees;
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idList<idAFBody*, 71> bodies;
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idList<idAFConstraint*, 71> constraints;
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idList<idAFConstraint*, 71> primaryConstraints;
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idList<idAFConstraint*, 71> auxiliaryConstraints;
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idList<idAFConstraint*, 71> frameConstraints;
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idList<idAFConstraint_Contact*, 71> contactConstraints;
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idList<int, 71> contactBodies;
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idStaticList<noclipBodyInfo_t, 8> noclipBodies;
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bool changedAF;
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float linearFriction;
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float angularFriction;
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float contactFriction;
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float bouncyness;
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float totalMass;
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idVec2 suspendVelocity;
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idVec2 suspendAcceleration;
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float noMoveTime;
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float noMoveTranslation;
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float noMoveRotation;
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float minMoveTime;
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float maxMoveTime;
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float impulseThreshold;
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float timeScale;
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float timeScaleRampStart;
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float timeScaleRampEnd;
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float jointFrictionScale;
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float jointFrictionDent;
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float jointFrictionDentStart;
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float jointFrictionDentEnd;
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float jointFrictionDentScale;
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float contactFrictionScale;
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float contactFrictionDent;
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float contactFrictionDentStart;
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float contactFrictionDentEnd;
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float contactFrictionDentScale;
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idFader errorReduction;
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idFader errorReductionMax;
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idFader lcpEpsilon;
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idFader limitErrorReduction;
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idFader limitErrorReductionMax;
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idFader limitLcpEpsilon;
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idFader contactErrorReduction;
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idFader contactErrorReductionMax;
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idFader contactLcpEpsilon;
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idFader universalErrorReduction;
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idFader universalErrorReductionMax;
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idFader universalTorsionLcpEpsilon;
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int passEntityNum;
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bool selfCollision;
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bool comeToRest;
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bool linearTime;
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bool noImpact;
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bool worldConstraintsLocked;
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bool forcePushable;
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bool addContactConstraints;
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bool addGravity;
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idAFBody* masterBody;
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AFPState_t current;
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AFPState_t saved;
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float lastTimeStep;
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int endTime;
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float timeStep;
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idVec3 lastImpulse;
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idLCP* lcp;
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};
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static_assert(sizeof(AFPState_t) == 60,
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"Recovered articulated-figure physics state ABI changed");
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#if defined(_WIN32) && !defined(_WIN64)
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static_assert(sizeof(idPhysics_AF) == 912,
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"Recovered idPhysics_AF ABI changed");
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#endif
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