physics.h

一个3D的保龄球的源代码

#define BLOCK_POINT_5_Z			BLOCK_POINT_1_Z
			
#define BLOCK_POINT_6_X			BLOCK_POINT_4_X
#define BLOCK_POINT_6_Y			BLOCK_POINT_2_Y
#define BLOCK_POINT_6_Z			BLOCK_POINT_1_Z

#define BLOCK_POINT_7_X			BLOCK_POINT_4_X
#define BLOCK_POINT_7_Y			BLOCK_POINT_2_Y
#define BLOCK_POINT_7_Z			BLOCK_POINT_0_Z



			
/************************************************************************/
/*  the id index of the variable Bodies                                 */
/************************************************************************/ 
#define ID_BALL					0
#define ID_TENPIN_0				1
#define ID_TENPIN_1				2
#define ID_TENPIN_2				3
#define ID_TENPIN_3				4
#define ID_TENPIN_4				5
#define ID_TENPIN_5				6
#define ID_TENPIN_6				7
#define ID_TENPIN_7				8
#define ID_TENPIN_8				9
#define ID_TENPIN_9				10
#define ID_TENPIN_10			11


#define NUM_TOTAL				TOTAL_OBJECT
#define NUMBODIES				NUM_TOTAL
#define NUM_COLLISION			NUMBODIES*16



/************************************************************************/
/* Physics class for simulation                                         */
/************************************************************************/
class Physics{
private:	
	//------------------------------------------------------------------------//
	// Rigid body structure
	//------------------------------------------------------------------------//
	typedef struct _RigidBody {
		
		PhType		    fMass;			// total mass (constant)
		Matrix3x3	    mInertia;		// mass moment of inertia in body coordinates (constant)
		Matrix3x3	    mInertiaInverse;// inverse of mass moment of inertia matrix	(constant)
		
		Vector		vPosition;		// position in earth coordinates
		Vector		vVelocity;		// velocity in earth coordinates
		Vector		vVelocityBody;	// velocity in body coordinates
		Vector		vAcceleration;	// acceleration of obj in earth space
		Vector		vAngularAcceleration; //angular acceleration in body coordinates
		Vector		vAngularVelocity;// angular velocity in body coordinates
		Vector		vEulerAngles;	// Euler angles in body coordinates
		PhType		    fSpeed;			// speed (magnitude of the velocity)
		
		Quaternion	    qOrientation;	// orientation in earth coordinates
		
		Vector		vForces;		// total force on body
		Vector		vMoments;		// total moment (torque) on body
		
		Matrix3x3	mIeInverse;		// inverse of moment of inertia in earth coordinates
		Matrix3x3	R;

		Vector		vAngularVelocityGlobal; // angular velocity in terms of earth fixed coords.
		Vector		vAngularAccelerationGlobal; // angular acceleration in terms of earth fixed coords.
		
		//--------for collision use(shape vertex)---------------------//		
		PhType		    fRadius;		// collision radius
		//Vector		vVertexList[8];
		int			status;				// bodies status
		
	} RigidBody, *pRigidBody;
	
	
	
	typedef struct	_Collision {	
		int				body1;			//id of the body1
		int				body2;			//id of the body2
		Vector			vCollisionNormal; // outward from face of body2
		Vector			vCollisionPoint;  // in global coordinates
		Vector			vRelativeVelocity;// the relative velocity of the 2 objects 
		Vector			vRelativeAcceleration;// the relative acceleration of the 2 objects
		Vector			vCollisionTangent;// the Tangent of the collision point
	}	Collision, *pCollision;
	
	
	typedef enum _collisionState{// the state of the collision 
			UNCHECKED=0,
			NO_CONTACT,
			HAVE_COLLISION
	} collisionState;




public:
/*----------------------------------------------------------------------------------
rigid body [0] is the ball;	rigid body [1] to rigid body [10] are the tenpins
//////rigid body [11] is groud ;  rigid body [12] to rigid body [15] are the enclosures
    ----------------------------------------------------------------------------------*/	
	RigidBody			Bodies[TOTAL_OBJECT];		// 
	int					isCollided;					// true if the ball hit the tenpin. used to play first collision sound



private:
	Collision			Collisions[NUM_COLLISION];// the collision data, used to record the collided object collision information 
	int					NumCollisions ;			// the total number of collision data structure 
	//PhType				tol;
	int colState[TOTAL_OBJECT][TOTAL_OBJECT];	// for collision check
	int objStatus[TOTAL_OBJECT];				// the current status of the tenpins. used for cscene.cpp to end the simulation



	
public:
	/*init all the rigid data.
	pInitTenpinPosition: the initial position of all the tenpins.
	*/
	void InitializeObjects(int const ((*pInitTenpinPosition)[2]));

	/*step dt time in the simulation loop.
	dttime: the delta time of the simulation.		
	*/
	void StepSimulation(PhType dtime);			
	
	//for scene
	/* test the tenpin shaking. 
	Id: the index of the test tenpin.
	return true if the tenpin is shaking.
	*/
	bool isTenpinShaking(int Id);

	/*
	set the weight of the ball
	weight: the wait index of the current ball.
	*/
	void setBallWeight(int weight);


private:
	// calculate total forces and moments, update the ground collision and contact
	void CalcObjectForces(void);				
	
	/*
	set the mass property of  the given object.(the mass and ineria)
	obj: the point to the given RigidBody type object.
	isBall: if the current obj is ball.
	*/
	void setMassProperty (RigidBody* obj, boolean isBall);

	/*
	set the collision data of  the given object. (set status and the collision radius)
	obj: the point to the given RigidBody type object.
	isBall: if the current obj is ball.
	*/
	void setCollisionData(RigidBody* obj, boolean isBall);

	//for collision
	// resolve the ground collision
	void resolveGroundCollisions();

	// check all the bodies, set all the collided object to the Collisions variable
	int checkForCollisions();

	// return 1 if the sphere with the centre p1 and radius r1 is collide with the sphere with the centre p2 and radius r2. else 0;
	int dCollideSpheres(Vector p1, PhType r1, Vector p2, PhType r2);

	/* return 1 if cylinder id1 collide with sphere id2. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideCylinderSphere(int id1, int id2, pCollision collisionData,int &count);

	/* return 1 if cylinder id1  and id2 collide. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideCylinders(int id1,int id2, pCollision collisionData,int &count);
	
	/* return 1 if cylinder id collide with ground. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideCylinderPlane(int id, pCollision collisionData);
	
	/* return 1 if sphere id collide with ground. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideSpherePlane(int id, pCollision collisionData);
	
	/* return 1 if cylinder id collide with top ceiling. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideCylinderTopBlock(int id, pCollision collisionData,int &count);
	
	/* return 1 if cylinder id collide with left and right bound. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideCylinderLRBlock(int id, pCollision collisionData,int &count);
	
	/* return 1 if cylinder id collide with other bound. else 0;
	   if collision occured, the collisionData will filled with the collision data and the count is the the collision point number.
	*/
	int dCollideCylinderBlock(int id, pCollision collisionData,int &count);

	/*
	resolve the all the collision data which is filled by the checkForCollisions(). update velocity and vAngularVelocity of the collided object.
	*/
	void ResolveCollisions(void);

	/*
	limit all the object(Bodies: tenpins and balls) in the collision box.
	*/
	void limitation(int i);

	void noSink();

	boolean isVelAndAngIn(int bodyID, int lmtVel, int lmtAng);

};



#endif