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move constraints checks to RigidBody

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This commit is contained in:
nothingTVatYT
2024-01-06 12:40:24 +01:00
parent 284c971ec0
commit a24a9d2094
3 changed files with 47 additions and 27 deletions
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40
Source/Engine/Physics/Actors/RigidBody.cpp
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@@ -300,6 +300,46 @@ void RigidBody::ClosestPoint(const Vector3& position, Vector3& result) const
}
}
void RigidBody::AddMovement(const Vector3& translation, const Quaternion& rotation)
{
// filter rotation according to constraints
Quaternion allowedRotation;
if (static_cast<unsigned int>(GetConstraints()) & static_cast<unsigned int>(RigidbodyConstraints::LockRotation))
allowedRotation = Quaternion::Identity;
else
{
Float3 euler = rotation.GetEuler();
const auto constraints = static_cast<unsigned int>(GetConstraints());
if (constraints & static_cast<unsigned int>(RigidbodyConstraints::LockRotationX))
euler.X = 0;
if (constraints & static_cast<unsigned int>(RigidbodyConstraints::LockRotationY))
euler.Y = 0;
if (constraints & static_cast<unsigned int>(RigidbodyConstraints::LockRotationZ))
euler.Z = 0;
allowedRotation = Quaternion::Euler(euler);
}
// filter translation according to the constraints
auto allowedTranslation = translation;
if (static_cast<unsigned int>(GetConstraints()) & static_cast<unsigned int>(RigidbodyConstraints::LockPosition))
allowedTranslation = Vector3::Zero;
else
{
const auto constraints = static_cast<unsigned int>(GetConstraints());
if (constraints & static_cast<unsigned int>(RigidbodyConstraints::LockPositionX))
allowedTranslation.X = 0;
if (constraints & static_cast<unsigned int>(RigidbodyConstraints::LockPositionY))
allowedTranslation.Y = 0;
if (constraints & static_cast<unsigned int>(RigidbodyConstraints::LockPositionZ))
allowedTranslation.Z = 0;
}
Transform t;
t.Translation = _transform.Translation + allowedTranslation;
t.Orientation = _transform.Orientation * allowedRotation;
t.Scale = _transform.Scale;
SetTransform(t);
}
void RigidBody::OnCollisionEnter(const Collision& c)
{
CollisionEnter(c);

6
Source/Engine/Physics/Actors/RigidBody.h
View File

@@ -430,6 +430,12 @@ public:
/// <param name="result">The result point on the rigidbody shape that is closest to the specified location.</param>
API_FUNCTION() void ClosestPoint(const Vector3& position, API_PARAM(Out) Vector3& result) const;
/// <summary>
/// Moves and rotates the rigidbody in world space within the limits of defined constraints.
/// </summary>
/// <param name="translation">The translation vector.</param>
/// <param name="rotation">The rotation quaternion.</param>
API_FUNCTION() void AddMovement(const Vector3& translation, const Quaternion& rotation) override;
public:
/// <summary>
/// Occurs when a collision start gets registered for this rigidbody (it collides with something).