Add PhysicsEffects to Extras. The build is only tested on Windows and Android.
The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587
This commit is contained in:
erwin.coumans
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/*
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Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
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All rights reserved.
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Physics Effects is open software; you can redistribute it and/or
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modify it under the terms of the BSD License.
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Physics Effects is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the BSD License for more details.
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A copy of the BSD License is distributed with
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Physics Effects under the filename: physics_effects_license.txt
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*/
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#ifndef _SCE_PFX_RIGID_BODY_H
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#define _SCE_PFX_RIGID_BODY_H
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#include "../base/pfx_common.h"
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namespace sce {
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namespace PhysicsEffects {
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class SCE_PFX_ALIGNED(128) PfxRigidBody
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{
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private:
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// Rigid Body constants
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PfxMatrix3 m_inertia; // Inertia matrix in body's coords
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PfxMatrix3 m_inertiaInv; // Inertia matrix inverse in body's coords
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PfxFloat m_mass; // Rigid Body mass
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PfxFloat m_massInv; // Inverse of mass
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PfxFloat m_restitution; // Coefficient of restitution
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PfxFloat m_friction; // Coefficient of friction
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SCE_PFX_PADDING(1,16)
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public:
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PfxFloat getMassInv() const {return m_massInv;}
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void setMassInv(PfxFloat massInv) {m_massInv=massInv;}
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const PfxMatrix3& getInertiaInv() const {return m_inertiaInv;}
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void setInertiaInv(const PfxMatrix3 SCE_VECTORMATH_AOS_MATRIX_ARG inertiaInv) {m_inertiaInv = inertiaInv;}
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public:
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inline void reset();
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PfxFloat getMass() const {return m_mass;};
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void setMass(PfxFloat mass) {m_mass=mass;m_massInv=mass>0.0f?1.0f/mass:0.0f;}
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const PfxMatrix3& getInertia() const {return m_inertia;}
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void setInertia(const PfxMatrix3 SCE_VECTORMATH_AOS_MATRIX_ARG inertia) {m_inertia = inertia;m_inertiaInv = inverse(inertia);}
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PfxFloat getRestitution() const {return m_restitution;}
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void setRestitution(PfxFloat restitution) {m_restitution = restitution;}
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PfxFloat getFriction() const {return m_friction;}
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void setFriction(PfxFloat friction) {m_friction = friction;}
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};
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inline
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void PfxRigidBody::reset()
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{
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m_mass = 0.0f;
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m_restitution = 0.2f;
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m_friction = 0.6f;
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}
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} // namespace PhysicsEffects
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} // namespace sce
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#endif // _SCE_PFX_RIGID_BODY_H
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/*
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Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
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All rights reserved.
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Physics Effects is open software; you can redistribute it and/or
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modify it under the terms of the BSD License.
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Physics Effects is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the BSD License for more details.
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A copy of the BSD License is distributed with
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Physics Effects under the filename: physics_effects_license.txt
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*/
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#ifndef _SCE_PFX_RIGID_STATE_H
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#define _SCE_PFX_RIGID_STATE_H
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#include "../base/pfx_common.h"
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#include "../base/pfx_vec_utils.h"
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namespace sce {
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namespace PhysicsEffects {
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// Motion Type
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enum ePfxMotionType {
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kPfxMotionTypeFixed = 0,
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kPfxMotionTypeActive,
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kPfxMotionTypeKeyframe,
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kPfxMotionTypeOneWay,
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kPfxMotionTypeTrigger,
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kPfxMotionTypeCount
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};
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#define SCE_PFX_MOTION_MASK_DYNAMIC(motion) ((1<<(motion))&0x0a) // Active,OneWay
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#define SCE_PFX_MOTION_MASK_STATIC(motion) ((1<<(motion))&0x95) // Fixed,Keyframe
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#define SCE_PFX_MOTION_MASK_CAN_SLEEP(motion) ((1<<(motion))&0x0e) // Can sleep
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#define SCE_PFX_MOTION_MASK_SLEEPING 0x80 // Is sleeping
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#define SCE_PFX_MOTION_MASK_TYPE 0x7f // Motion Type
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class SCE_PFX_ALIGNED(128) PfxRigidState
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{
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private:
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union {
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struct {
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PfxUInt8 m_useSleep : 1;
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PfxUInt8 m_sleeping : 1;
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PfxUInt8 m_reserved1 : 1;
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PfxUInt8 m_reserved2 : 1;
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PfxUInt8 m_reserved3 : 1;
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PfxUInt8 m_reserved4 : 1;
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PfxUInt8 m_reserved5 : 1;
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PfxUInt8 m_reserved6 : 1;
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};
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PfxUInt8 m_flags;
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};
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PfxUInt8 m_motionType;
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PfxUInt16 m_sleepCount;
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PfxUInt16 m_rigidBodyId;
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SCE_PFX_PADDING(1,2)
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PfxUInt32 m_contactFilterSelf;
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PfxUInt32 m_contactFilterTarget;
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PfxFloat m_linearDamping;
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PfxFloat m_angularDamping;
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PfxFloat m_maxLinearVelocity;
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PfxFloat m_maxAngularVelocity;
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PfxVector3 m_position;
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PfxQuat m_orientation;
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PfxVector3 m_linearVelocity;
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PfxVector3 m_angularVelocity;
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void *m_userData;
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PfxUInt32 m_userParam[4];
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SCE_PFX_PADDING(2,12)
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public:
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inline void reset();
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PfxUInt16 getRigidBodyId() const {return m_rigidBodyId;}
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void setRigidBodyId(PfxUInt16 i) {m_rigidBodyId = i;}
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PfxUInt32 getContactFilterSelf() const {return m_contactFilterSelf;}
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void setContactFilterSelf(PfxUInt32 filter) {m_contactFilterSelf = filter;}
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PfxUInt32 getContactFilterTarget() const {return m_contactFilterTarget;}
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void setContactFilterTarget(PfxUInt32 filter) {m_contactFilterTarget = filter;}
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ePfxMotionType getMotionType() const {return (ePfxMotionType)m_motionType;}
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void setMotionType(ePfxMotionType t) {SCE_PFX_ALWAYS_ASSERT(t<kPfxMotionTypeCount);m_motionType = (PfxUInt8)t;wakeup();}
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PfxUInt8 getMotionMask() const {return m_motionType|(m_sleeping<<7);}
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PfxBool isAsleep() const {return m_sleeping==1;}
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PfxBool isAwake() const {return m_sleeping==0;}
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void wakeup() {m_sleeping=0;m_sleepCount=0;}
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void sleep() {if(m_useSleep) {m_sleeping=1;m_sleepCount=0;}}
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PfxUInt8 getUseSleep() const {return m_useSleep;}
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void setUseSleep(PfxUInt8 b) {m_useSleep=b;}
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void incrementSleepCount() {if(m_sleepCount<0xffff)m_sleepCount++;}
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void resetSleepCount() {m_sleepCount=0;}
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PfxUInt16 getSleepCount() const {return m_sleepCount;}
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PfxFloat getLinearDamping() const {return m_linearDamping;}
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PfxFloat getAngularDamping() const {return m_angularDamping;}
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PfxFloat getMaxLinearVelocity() const {return m_maxLinearVelocity;}
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PfxFloat getMaxAngularVelocity() const {return m_maxAngularVelocity;}
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void setLinearDamping(PfxFloat damping) {m_linearDamping=damping;}
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void setAngularDamping(PfxFloat damping) {m_angularDamping=damping;}
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void setMaxLinearVelocity(PfxFloat maxvelocity){m_maxLinearVelocity = maxvelocity;}
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void setMaxAngularVelocity(PfxFloat maxvelocity){m_maxAngularVelocity = maxvelocity;}
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PfxVector3 getPosition() const {return m_position;}
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PfxQuat getOrientation() const {return m_orientation;}
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PfxVector3 getLinearVelocity() const {return m_linearVelocity;}
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PfxVector3 getAngularVelocity() const {return m_angularVelocity;}
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void setPosition(const PfxVector3 &pos) {m_position = pos;}
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void setOrientation(const PfxQuat &rot) {m_orientation = rot;}
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void setLinearVelocity(const PfxVector3 &vel) {m_linearVelocity = vel;}
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void setAngularVelocity(const PfxVector3 &vel) {m_angularVelocity = vel;}
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void *getUserData() const {return m_userData;}
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void setUserData(void *d) {m_userData=d;}
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inline void movePosition(const PfxVector3 &pos,PfxFloat timeStep);
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inline void moveOrientation(const PfxQuat &rot,PfxFloat timeStep);
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};
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inline
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void PfxRigidState::reset()
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{
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m_sleepCount = 0;
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m_motionType = kPfxMotionTypeActive;
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m_flags = 0;
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m_rigidBodyId = 0;
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m_contactFilterSelf = 0xffffffff;
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m_contactFilterTarget = 0xffffffff;
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m_linearDamping = 1.0f;
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m_angularDamping = 0.99f;
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m_maxLinearVelocity = 200.0f;
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m_maxAngularVelocity = SCE_PFX_PI * 100.0f;
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m_position = PfxVector3(0.0f);
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m_orientation = PfxQuat::identity();
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m_linearVelocity = PfxVector3(0.0f);
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m_angularVelocity = PfxVector3(0.0f);
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m_userData = NULL;
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}
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inline
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void PfxRigidState::movePosition(const PfxVector3 &pos,PfxFloat timeStep)
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{
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if(getMotionType()!=kPfxMotionTypeKeyframe) return;
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SCE_PFX_ASSERT(timeStep > 0.0f);
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setLinearVelocity((pos - getPosition()) / timeStep);
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}
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inline
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void PfxRigidState::moveOrientation(const PfxQuat &rot,PfxFloat timeStep)
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{
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if(getMotionType()!=kPfxMotionTypeKeyframe) return;
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SCE_PFX_ASSERT(timeStep > 0.0f);
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PfxQuat ori1 = getOrientation();
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PfxQuat ori2 = rot;
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if(dot(ori2,ori1) < 0.0f) {
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ori2 = -rot;
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}
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PfxQuat dq = ( ori2 - ori1 ) / timeStep;
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dq = dq * 2.0f * conj(ori1);
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PfxVector3 omega = dq.getXYZ();
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setAngularVelocity(omega);
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}
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} // namespace PhysicsEffects
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} // namespace sce
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#endif // _SCE_PFX_RIGID_STATE_H
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