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By 'northWind'
[[Team_Guardian|Back to Team Guardian's Page]]
== Downloads ==
# As a physics simulator only
# As a collision detector only
=== Which Download Package Should I Choose? ===
Choose one of the barebones packages. They are labelled to coincide with whichever route you want to take when integrating the framework into your project. A reference implementation is also provided that shows an example of how the physics simulation and collision detection code is implemented. For the least amount of headache and work, I suggest getting either the physics sim/collision detection package or the physics sim only package; the collision detection only package inherently requires more work as the iRigidBody interface must be implemented to suit your project ([[Team_Guardian_Physics#Collision_Detector_Only |See here]]).
Please skip to the section relevant to your interests :)
=== Combined Physics Simulator/Basic Integration Steps === The barebones packages assume that your working copy is based on sample 28 but should integrate well with all samples 16 (possibly 22) and above. For all packages, the basic steps are the same and are the following: # Copy all files unique to the chosen package into your working copy. Add the files to your solution as desired; I recommend that new project filters be created to keep the package code separate from everything else.# Overwrite all of Chris' files that you did not modify during development that are also present in the chosen barebones package.# Merge together files that you've modified from Chris' reference implementation and that are also present in the chosen barebones package. [mailto:hkamal-al-deen@learn.senecac.on.ca Let me know if any problems arise during this step :)] '''Note that some files don't necessarily need to be copied in (such as Camera.cpp). Use your discretion when deciding on what parts of the framework to filter out and hopefully nothing breaks??''' For the combined package and the physics-only package, this is all that you need to do to get going. To actually get stuff simulating, take a look at some of [[Team_Guardian_Physics#How_to_Use |this code]]. For the collision only package, read on... === Collision Detector Only === After copying/merging in the requisite files from the collision detection package and adding all new files to your solution, the project should now be compiling cleanly. To get any use out of the collision detection, you will want to create a collision space, assign it to be the global collision space and implement the iRigidBody interface for your custom object classes. Let's take a look at this one step at a time:<ol><li>Create a global collision space for all of your collision geometry. For the time being, the only collision space available is the simple one so let's do that:<pre>#include "iCollisionSpace.h"#include "iSimpleCollisionSpace.h" iCollisionSpace* collisionSpace =CreateSimpleCollisionSpace();</pre></li><li> Assign this collision space to be the global collision space for all collision geometries that will be created from this point on. This should be done during initialization and prior to collision geometry creation.<br/><br/> From a design perspective, it should be possible for multiple collision spaces to coexist in the world but at the moment this is not implemented correctly so you will have to live with a single global collision space, unfortunately.</li><li>Implement the <code>iRigidBody</code> interface in some of your custom classes. A collision geometry requires a RigidBody instance to be passed in on creation (it can also be attached to a RigidBody at a later time); let's take a look at why this is so.</li></ol>
== Framework Reference ==
=== Functions ===
; Vector getWorldCOM() const : '''REMOVED IN NEXT UPDATE''' Returns the world position of the COM with respect to this body.
; Vector getVelocityAtWorldPoint(const Vector& p) const : Given a point in worldspace, returns its speed taking into account velocity and angular velocity.
; Void setInverseInertiaTensor(const Matrix& i) : Sets the inverse inertia tensor of this body. Automatically sets the inertia tensor as well by inversing the incoming matrix. DOES NOT NEED TO BE CALLED AFTER CALLING setInertiaTensor()
; Matrix& getInverseInertiaTensor() : Returns the inertia tensor or inverse inertia tensor contained by this object.
; Void ApplyImpulse(const Vector& impulse, const Vector& pointOfApplication) : Applies a given impulse instantaneously onto this object at a given world point of application. Can be used to shoot or prod objects.
==== Functions Coming In Next Update ====
; void attachTo(RBDynamics* p) : Attaches this RBD to a given RBD. It is not required to call this function after calling PhysicsFrame's AttachTo(PhysicsFrame*) if the RBD resides within the RB of the PhysicsFrame.
; RBDynamics* attachedTo() const : Returns the RBD this RBD is attached to or NULL.
; RBDynamics* attachmentRoot() const : Returns the root of the attachment chain of this RBD.
; float getMass() const : Returns the mass of the RBD at the root of the attachment chain.
; Vector getWorldPosition() const : Returns the world-space position of this body's COM taking into account parent position/orientation.
; Matrix getWorldOrientation() const : Returns the world-space orientation of this body taking into account parent orientation.
== Other Topics Reference ==