1. Motor III. Merev test animáció Szécsi László

2. Letöltés diák: www.iit.bme.hu/~szecsi/GraphGame //l08-engine3.ppt

3. RigidModel és RigidBody Osztályok: RigidModel 1/m, I -1 később ütközés, légellenállás RigidBody rigidModel hivatkozás x, L, q, P EngineCore: RigidModelDirectory RigidBody-k meg mehetnek az entitások közé

4. RigidModel class RigidModel { friend class RigidBody; /// Inverse of physical mass. double invMass; /// Inverse of mass moments of inertia matrix. D3DXMATRIX invAngularMass; public:

5. RigidModel RigidModel(double invMass, double invAngularMassX, double invAngularMassY, double invAngularMassZ); /// Returns 1/mass. double getInvMass(); /// Returns the inverse of the moments of inertia matrix. const D3DXMATRIX& getInvAngularMass(); };

6. RigidModel.cpp RigidModel::RigidModel(double invMass, double invAngularMassX, double invAngularMassY, double invAngularMassZ) { this->invMass = invMass; D3DXMatrixScaling(&invAngularMass, invAngularMassX, invAngularMassY, invAngularMassZ); centreOfMass = D3DXVECTOR3(0, 0, 0); drag = D3DXVECTOR3(0, 0, 0); angularDrag = D3DXVECTOR3(0, 0, 0); }

7. RigidModel.cpp double RigidModel::getInvMass() { return invMass; } const D3DXMATRIX& RigidModel::getInvAngularMass() { return invAngularMass; }

8. RigidBody class RigidModel; class RigidBody : public Entity { /// Physics model reference. RigidModel* rigidModel;

9. RigidBody /// Position. [x] D3DXVECTOR3 position; /// Orientation. [q] D3DXQUATERNION orientation; /// Momentum. [L] (lendület) D3DXVECTOR3 momentum; /// Angular momentum. [P] (perdület) D3DXVECTOR3 angularMomentum;

10. RigidBody /// Force. [F] D3DXVECTOR3 force; /// Torque. [tau = r x F] D3DXVECTOR3 torque; /// Auxiliary roataion matrix computed from orientation. [R] D3DXMATRIX rotationMatrix;

11. RigidBody public: /// Constructor. RigidBody(ShadedMesh* shadedMesh, RigidModel* rigidModel); virtual void render(const RenderContext& context); virtual void animate(double dt); virtual void control(const ControlContext& context);

12. RigidBody void setPosition(const D3DXVECTOR3& position); void setAngularMomentum(const D3DXVECTOR3& am); /// Returns model matrix to be used by lights and camera attached to the entity. virtual void getModelMatrix(D3DXMATRIX& modelMatrix); /// Returns the inverse of the model matrix. virtual void getModelMatrixInverse(D3DXMATRIX& modelMatrixInverse); /// Returns the inverse of the rotation matrix. virtual void getRotationMatrixInverse(D3DXMATRIX& rotationMatrixInverse); void getWorldInvMassMatrix(D3DXMATRIX& wim); };

13. RigidBody.cpp #include "RigidModel.h" #include "ShadedMesh.h" #include "Camera.h" RigidBody::RigidBody(ShadedMesh* shadedMesh, RigidModel* rigidModel) :Entity(shadedMesh) { this->rigidModel = rigidModel; position = D3DXVECTOR3(0.0f, 0.0f, 0.0f); orientation = D3DXQUATERNION(0.0f, 0.0f, 0.0f, 1.0f); momentum = D3DXVECTOR3(0.0f, 0.0f, 0.0f); angularMomentum = D3DXVECTOR3(0.0f, 0.0f, 0.0f); force = D3DXVECTOR3(0.0f, 0.0f, 0.0f); torque = D3DXVECTOR3(0.0f, 0.0f, 0.0f); D3DXMatrixRotationQuaternion(&rotationMatrix, &orientation); }

14. RigidBody.cpp void RigidBody::render(const RenderContext& context) { D3DXMATRIX positionMatrix; D3DXMatrixTranslation(&positionMatrix, position.x, position.y, position.z); D3DXMATRIX bodyModelMatrix = rotationMatrix * positionMatrix; D3DXMATRIX bodyModelMatrixInverse; D3DXMatrixInverse(&bodyModelMatrixInverse, NULL, &bodyModelMatrix); context.effect->SetMatrix("modelMatrix", &bodyModelMatrix); context.effect->SetMatrix("modelMatrixInverse", &bodyModelMatrixInverse); D3DXMATRIX modelViewProjMatrix = bodyModelMatrix * context.camera- >getViewMatrix() * context.camera->getProjMatrix(); context.effect->SetMatrix("modelViewProjMatrix", &modelViewProjMatrix); D3DXMATRIX modelViewMatrix = bodyModelMatrix * context.camera- >getViewMatrix(); context.effect->SetMatrix("modelViewMatrix", &modelViewMatrix); shadedMesh->render(context); }

15. RigidBody.cpp void RigidBody::animate(double dt) { momentum += force * dt; D3DXVECTOR3 velocity = momentum * rigidModel->invMass; position += velocity * dt; angularMomentum += torque * dt;

16. animate folyt. // compute inverse mass matrix D3DXMATRIX worldSpaceInvMassMatrix; getWorldInvMassMatrix(worldSpaceInvMassMatrix); // compute angular velocity vector D3DXVECTOR3 angularVelocity; D3DXVec3TransformCoord(&angularVelocity, &angularMomentum, &worldSpaceInvMassMatrix); // compute rotation happening in dt time float rotationsPerSecond = D3DXVec3Length(&angularVelocity); D3DXQUATERNION angularDifferenceQuaternion; D3DXQuaternionRotationAxis( &angularDifferenceQuaternion, &angularVelocity, rotationsPerSecond * 6.28 * dt); // append rotation to orientation orientation *= angularDifferenceQuaternion; D3DXMatrixRotationQuaternion (&rotationMatrix, &orientation); }

17. RigidBody.cpp Void RigidBody::getWorldInvMassMatrix (D3DXMATRIX& wim) { D3DXMATRIX transposedRotationMatrix; D3DXMatrixTranspose(&transposedRotat ionMatrix, &rotationMatrix); wim = transposedRotationMatrix * rigidModel->invAngularMass * rotationMatrix; }

18. RigidBody::control void RigidBody::control(const ControlContext& context) { force = D3DXVECTOR3(0.0, 0.0, 0.0); torque = D3DXVECTOR3(0.0, 0.0, 0.0); //gravity if(rigidModel->invMass > 0.0) force += D3DXVECTOR3(0.0, -10.0 / rigidModel->invMass, 0.0); }

19. RigidBody.cpp void RigidBody::setPosition(const D3DXVECTOR3& position) { this->position = position; } void RigidBody::setAngularMomentum(const D3DXVECTOR3& am) { this->angularMomentum = am; }

20. RigidBody.cpp void RigidBody::getModelMatrix(D3DXMATRIX& modelMatrix) { D3DXMATRIX positionMatrix; D3DXMatrixTranslation(&positionMatrix, position.x, position.y, position.z); modelMatrix = rotationMatrix * positionMatrix; } void RigidBody::getModelMatrixInverse(D3DXMATRIX& modelMatrixInverse) { D3DXMATRIX positionMatrix, rotationMatrixTransposed; D3DXMatrixTranslation(&positionMatrix, -position.x, -position.y, - position.z); D3DXMatrixTranspose(&rotationMatrixTransposed, &rotationMatrix); modelMatrixInverse = positionMatrix * rotationMatrixTransposed; } void RigidBody::getRotationMatrixInverse(D3DXMATRIX& rotationMatrixInverse) { D3DXMatrixTranspose(&rotationMatrixInverse, &rotationMatrix); }

21. XML

22. Directory.h class RigidModel; typedef std::map RigidModelDirectory;

23. EngineCore RigidModelDirectory rigidModelDirectory; void loadRigidModels(XMLNode& xMainNode); void loadRigidBodies(XMLNode& groupNode, NodeGroup* group);

24. loadLevel loadRigidModels(xMainNode); // még az entitások betöltése előtt

25. EngineCore.cpp #include "RigidModel.h" #include "RigidBody.h" void EngineCore::loadRigidModels(XMLNode& xMainNode) { int iRigidModel = 0; XMLNode rigidModelNode; while(!(rigidModelNode=xMainNode.getChildNode(L"RigidModel", iRigidModel)).isEmpty()) { const wchar_t* rigidModelName = rigidModelNode|L"name"; double invMass = rigidModelNode.readDouble(L"invMass"); double invAngularMassX = rigidModelNode.readDouble(L"invAngularMassX"); double invAngularMassY = rigidModelNode.readDouble(L"invAngularMassY"); double invAngularMassZ = rigidModelNode.readDouble(L"invAngularMassZ"); RigidModel* rigidModel = new RigidModel(invMass, invAngularMassX, invAngularMassY, invAngularMassZ); rigidModelDirectory[rigidModelName] = rigidModel; iRigidModel++; }

26. EngineCore.cpp void EngineCore::loadRigidBodies(XMLNode& groupNode, NodeGroup* group) { int iRigidBody = 0; XMLNode rigidBodyNode; while( !(rigidBodyNode = groupNode.getChildNode(L"RigidBody", iRigidBody)).isEmpty() ) { const wchar_t* shadedMeshName = rigidBodyNode|L"shadedMesh"; ShadedMeshDirectory::iterator iShadedMesh = shadedMeshDirectory.find(shadedMeshName); const wchar_t* rigidModelName = rigidBodyNode|L"rigidModel"; RigidModelDirectory::iterator iRigidModel = rigidModelDirectory.find(rigidModelName); if(iShadedMesh != shadedMeshDirectory.end() && iRigidModel != rigidModelDirectory.end()) { RigidBody* rigidBody = new RigidBody(iShadedMesh->second, iRigidModel->second); rigidBody->setPosition(rigidBodyNode.readVector(L"pos")); group->add(rigidBody); const wchar_t* entityName = rigidBodyNode|L"name"; if(entityName) entityDirectory[entityName] = rigidBody; } iRigidBody++; }

27. EngineCore.cpp void EngineCore::loadGroup(XMLNode& groupNode, NodeGroup*& group) { if(groupNode.isEmpty()) return; group = new NodeGroup(); loadEntities(groupNode, group); loadRigidBodies(groupNode, group); }

28. Próba Nem történik semmi control-t nem hívjuk még

29. Új class: ControlContext Hagyjuk üresen, EngineCore: #include "ControlContext.h" void EngineCore::animate(double dt, double t) { currentCamera->second->animate(dt); sceneRoot->control(ControlContext()); sceneRoot->animate(dt); }

30. Próba Zuhan Játék a RigidBody::controlban Pl. torque.x += 1; torque.y += 1;

31. Vezérlés ControlStatus osztály Billentyűlenyomások, egérgombok és egérpozíció nyilvántartása EngineCore-ba: ControlStatus status;

32. ControlStatus class ControlStatus { public: /// Array of key pressed state variables. Addressed by virtual key codes, true if key is pressed. bool keyPressed[0xff]; /// Mouse pointer position in normalized screen space. D3DXVECTOR3 mousePosition; /// Pressed state variable of left, center and right mouse buttons. bool mouseButtonPressed[3]; /// Screen width. Not set by constructor. unsigned int screenWidth; /// Screen height. Not set by constructor. unsigned int screenHeight; /// Updates input state by processing message. virtual void handleInput(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam); /// Constructor. Intializes input state. ControlStatus(); };

33. ControlStatus.cpp #include "DXUT.h" #include "ControlStatus.h" ControlStatus::ControlStatus() { for(unsigned int i=0; i<0xff; i++) keyPressed[i] = false; mouseButtonPressed[0] = false; mouseButtonPressed[1] = false; mouseButtonPressed[2] = false; mousePosition = D3DXVECTOR3(0, 0, 0); } void ControlStatus::handleInput(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam) { if(uMsg == WM_KEYDOWN) keyPressed[wParam] = true; else if(uMsg == WM_KEYUP) keyPressed[wParam] = false; else if(uMsg == WM_KILLFOCUS) { for(unsigned int i=0; i<0xff; i++) keyPressed[i] = false; } else if(uMsg == WM_MOUSEMOVE) { POINT pixPos; if(GetCursorPos(&pixPos)) mousePosition = D3DXVECTOR3((double)pixPos.x / screenWidth * 2.0 - 1.0, (double)pixPos.y / screenHeight * 2.0 - 1.0, 0); }

34. EngineCore::processMessage void EngineCore::processMessage(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam) { currentCamera->second ->handleInput(hWnd, uMsg, wParam, lParam); status.handleInput(hWnd, uMsg, wParam, lParam); }

35. ControlContext class ControlStatus; class Node; class ControlContext { public:const ControlStatus& controlStatus; /// Time step. double dt; /// Scene graph reference for interaction computations. Node* interactors; ControlContext(const ControlStatus& controlStatus, double dt, Node* interactors) :controlStatus(controlStatus) { this->dt = dt; this->interactors = interactors; }};

36. Létrehozása void EngineCore::animate(double dt, double t) { currentCamera->second->animate(dt); sceneRoot->control(ControlContext( status, dt, sceneRoot)); sceneRoot->animate(dt); }

37. RigidBody::control játék #include "ControlContext.h" #include "ControlStatus.h" if(context.controlStatus.keyPressed['U']) force.y += 100;