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RigidBody.cpp
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RigidBody.cpp
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#include "RigidBody.h"
#include <iostream>
using namespace GPhysix;
RigidBody::RigidBody(const Mesh &mesh)
{
setMesh(mesh);
}
void RigidBody::move()
{
setVel(this->getVel());
setPos(this->getPos());
}
void RigidBody::updateInvInertia()
{
float w = m_mesh.getScaleVec().x * 2.0f;
float h = m_mesh.getScaleVec().y * 2.0f;
float d = m_mesh.getScaleVec().z * 2.0f;
glm::mat3 inertia = glm::mat3(0.0f);
inertia[0][0] = m_mass / 12.0f * (h * h + d * d);
inertia[1][1] = m_mass / 12.0f * (w * w + d * d);
inertia[2][2] = m_mass / 12.0f * (w * w + h * h);
setInvInertia(glm::inverse(inertia));
}
CollisionManifold RigidBody::canCollideStatic()
{
if (m_collider.getType() == TYPE::OBB)
{
return m_collider.intersect(getOrientedBoxCollider(), Collider::getPlaneCollider());
}
if (m_collider.getType() == TYPE::SPHERE)
{
return m_collider.intersect(getSphereCollider(), Collider::getPlaneCollider());
}
else
{
std::cout << "Error: Some of these STATIC collisions are not implemented yet.\n";
return CollisionManifold();
}
}
CollisionManifold RigidBody::canCollide(RigidBody* other)
{
if (m_collider.getType() == TYPE::OBB && other->getCollider().getType() == TYPE::OBB)
{
return m_collider.intersect(getOrientedBoxCollider(), other->getOrientedBoxCollider());
}
else if (m_collider.getType() == TYPE::OBB && other->getCollider().getType() == TYPE::SPHERE)
{
return m_collider.intersect(other->getSphereCollider(), getOrientedBoxCollider());
}
else if (m_collider.getType() == TYPE::SPHERE && other->getCollider().getType() == TYPE::SPHERE)
{
return m_collider.intersect(getSphereCollider(), other->getSphereCollider());
}
else if (m_collider.getType() == TYPE::SPHERE && other->getCollider().getType() == TYPE::OBB)
{
return m_collider.intersect(getSphereCollider(), other->getOrientedBoxCollider());
}
else
{
std::cout << "Error: Some of these DYNAMIC collisions are not implemented yet.\n";
return CollisionManifold();
}
}
OBB RigidBody::getOrientedBoxCollider()
{
auto edgeLen = getScaleVec();
return OBB(getPos(), glm::mat3(getRotate()), edgeLen);
}
BoundingSphere RigidBody::getSphereCollider()
{
auto R = (getScaleVec().x + getScaleVec().y + getScaleVec().z) / 3.0f;
return BoundingSphere(getPos(), R);
}