#include <KartDynamics.hh>

Description

State management for most components of a kart's physics.

Whenever another kart class is done with their calculations, they call to this class to set the relevant variables. For example, KartMove::calcAcceleration() calculates acceleration and subsequently sets the internal velocity in this class.

Definition at line 12 of file KartDynamics.hh.

Inheritance diagram for Kart::KartDynamics:

Public Member Functions
virtual void	forceUpright ()

virtual void	stabilize ()
	Stabilizes the kart by rotating towards the y-axis unit vector.

void	init ()

void	resetInternalVelocity ()

void	setInertia (const EGG::Vector3f &m, const EGG::Vector3f &n)

void	setBspParams (f32 rotSpeed, const EGG::Vector3f &m, const EGG::Vector3f &n, bool skipInertia)
	On init, takes elements from the kart's BSP and computes the moment of inertia tensor.

void	calc (f32 dt, f32 maxSpeed, bool air)
	Every frame, computes acceleration, velocity, position and rotation of the kart.

void	reset ()

void	applySuspensionWrench (const EGG::Vector3f &p, const EGG::Vector3f &Flinear, const EGG::Vector3f &Frot, bool ignoreX)
	Every frame, computes torque from linear motion and rotation.

void	applyWrenchScaled (const EGG::Vector3f &p, const EGG::Vector3f &f, f32 scale)
	Applies a force linearly and rotationally to the kart.

Setters

void	setPos (const EGG::Vector3f &pos)

void	setGravity (f32 gravity)

void	setMainRot (const EGG::Quatf &q)

void	setFullRot (const EGG::Quatf &q)

void	setSpecialRot (const EGG::Quatf &q)

void	setExtraRot (const EGG::Quatf &q)

void	setIntVel (const EGG::Vector3f &v)

void	setTop (const EGG::Vector3f &v)

void	setStabilizationFactor (f32 val)

void	setTotalForce (const EGG::Vector3f &v)

void	setExtVel (const EGG::Vector3f &v)

void	setAngVel0 (const EGG::Vector3f &v)

void	setAngVel2 (const EGG::Vector3f &v)

void	setAngVel0YFactor (f32 val)

void	setTop_ (const EGG::Vector3f &v)

void	setForceUpright (bool isSet)

void	setNoGravity (bool isSet)

void	setKillExtVelY (bool isSet)

Getters

const EGG::Matrix34f &	invInertiaTensor () const

f32	angVel0Factor () const

const EGG::Vector3f &	pos () const

const EGG::Vector3f &	velocity () const

f32	gravity () const

const EGG::Vector3f &	intVel () const

const EGG::Quatf &	mainRot () const

const EGG::Quatf &	fullRot () const

const EGG::Vector3f &	totalForce () const

const EGG::Vector3f &	extVel () const

const EGG::Vector3f &	angVel0 () const

const EGG::Vector3f &	angVel2 () const

f32	speedFix () const

Protected Attributes
EGG::Matrix34f	m_inertiaTensor
	Resistance to rotational change, as a 3x3 matrix.

EGG::Matrix34f	m_invInertiaTensor
	The inverse of m_inertiaTensor.

f32	m_angVel0Factor
	Scalar for damping angular velocity.

EGG::Vector3f	m_pos
	The vehicle's position.

EGG::Vector3f	m_extVel
	Velocity induced by collisions.

EGG::Vector3f	m_acceleration
	Basically just m_totalForce.

EGG::Vector3f	m_angVel0
	Angular velocity from m_totalTorque.

EGG::Vector3f	m_movingObjVel
	Velocity from things like TF conveyers.

EGG::Vector3f	m_angVel1
	[Unused]

EGG::Vector3f	m_movingRoadVel
	Velocity from Koopa Cape water.

EGG::Vector3f	m_velocity
	Sum of the linear velocities.

f32	m_speedNorm
	Min of the max speed and m_velocity magnitude.

EGG::Vector3f	m_angVel2
	The main component of angular velocity.

EGG::Quatf	m_mainRot
	Rotation based on the angular velocities.

EGG::Quatf	m_fullRot
	The combination of the other rotations.

EGG::Vector3f	m_totalForce
	Basically just gravity.

EGG::Vector3f	m_totalTorque
	Torque from linear motion and rotation.

EGG::Quatf	m_specialRot
	Rotation from trick animations. Copied from KartPhysics.

EGG::Quatf	m_extraRot
	[Unused]

f32	m_gravity
	Always -1.0f.

EGG::Vector3f	m_intVel
	What you typically consider to be the vehicle's speed.

EGG::Vector3f	m_top
	The unit vector pointing up from the vehicle.

f32	m_stabilizationFactor
	Scalar for damping the main rotation.

f32	m_speedFix

EGG::Vector3f	m_top_
	Basically m_top biased towards absolute up.

f32	m_angVel0YFactor
	Scalar for damping angular velocity.

bool	m_forceUpright
	Specifies if we should return the vehicle to upwards orientation.

bool	m_noGravity
	Disables gravity. Relevant when respawning.

bool	m_killExtVelY
	Caps external velocity at 0.

Constructor & Destructor Documentation

◆ KartDynamics()

Kart::KartDynamics::KartDynamics ( )

0x805B4AF8

Definition at line 8 of file KartDynamics.cc.

Member Function Documentation

◆ angVel0()

const EGG::Vector3f & Kart::KartDynamics::angVel0 ( ) const

inlinenodiscard

Definition at line 152 of file KartDynamics.hh.

◆ angVel0Factor()

f32 Kart::KartDynamics::angVel0Factor ( ) const

inlinenodiscard

Definition at line 116 of file KartDynamics.hh.

◆ angVel2()

const EGG::Vector3f & Kart::KartDynamics::angVel2 ( ) const

inlinenodiscard

Definition at line 156 of file KartDynamics.hh.

◆ applySuspensionWrench()

void Kart::KartDynamics::applySuspensionWrench	(	const EGG::Vector3f &	p,
		const EGG::Vector3f &	Flinear,
		const EGG::Vector3f &	Frot,
		bool	ignoreX )

0x805B6150

Every frame, computes torque from linear motion and rotation.

Stage: All

Parameters

p	Position of the rigid body.
Flinear	Linear motion force
Frot	Rotational force
ignoreX	If true, no x-axis torque is applied (e.g. when in a wheelie)

Definition at line 201 of file KartDynamics.cc.

◆ applyWrenchScaled()

void Kart::KartDynamics::applyWrenchScaled	(	const EGG::Vector3f &	p,
		const EGG::Vector3f &	f,
		f32	scale )

0x805B5CE8

Applies a force linearly and rotationally to the kart.

Stage: 2

Definition at line 218 of file KartDynamics.cc.

◆ calc()

void Kart::KartDynamics::calc	(	f32	dt,
		f32	maxSpeed,
		bool	air )

0x805B5170

Every frame, computes acceleration, velocity, position and rotation of the kart.

Stage: All

Parameters

dt	Delta time. It's always 1.0f.
maxSpeed	Always 120.0f.

Definition at line 90 of file KartDynamics.cc.

◆ extVel()

const EGG::Vector3f & Kart::KartDynamics::extVel ( ) const

inlinenodiscard

Definition at line 148 of file KartDynamics.hh.

◆ forceUpright()

virtual void Kart::KartDynamics::forceUpright ( )

inlinevirtual

Definition at line 17 of file KartDynamics.hh.

◆ fullRot()

const EGG::Quatf & Kart::KartDynamics::fullRot ( ) const

inlinenodiscard

Definition at line 140 of file KartDynamics.hh.

◆ gravity()

f32 Kart::KartDynamics::gravity ( ) const

inlinenodiscard

Definition at line 128 of file KartDynamics.hh.

◆ init()

void Kart::KartDynamics::init ( )

0x805B4B54

Definition at line 32 of file KartDynamics.cc.

◆ intVel()

const EGG::Vector3f & Kart::KartDynamics::intVel ( ) const

inlinenodiscard

Definition at line 132 of file KartDynamics.hh.

◆ invInertiaTensor()

const EGG::Matrix34f & Kart::KartDynamics::invInertiaTensor ( ) const

inlinenodiscard

Definition at line 112 of file KartDynamics.hh.

◆ mainRot()

const EGG::Quatf & Kart::KartDynamics::mainRot ( ) const

inlinenodiscard

Definition at line 136 of file KartDynamics.hh.

◆ pos()

const EGG::Vector3f & Kart::KartDynamics::pos ( ) const

inlinenodiscard

Definition at line 120 of file KartDynamics.hh.

◆ reset()

void Kart::KartDynamics::reset ( )

0x805B4D24

Definition at line 181 of file KartDynamics.cc.

◆ resetInternalVelocity()

void Kart::KartDynamics::resetInternalVelocity ( )

inline

Definition at line 22 of file KartDynamics.hh.

◆ setAngVel0()

void Kart::KartDynamics::setAngVel0 ( const EGG::Vector3f & v )

inline

Definition at line 82 of file KartDynamics.hh.

◆ setAngVel0YFactor()

void Kart::KartDynamics::setAngVel0YFactor ( f32 val )

inline

Definition at line 90 of file KartDynamics.hh.

◆ setAngVel2()

void Kart::KartDynamics::setAngVel2 ( const EGG::Vector3f & v )

inline

Definition at line 86 of file KartDynamics.hh.

◆ setBspParams()

void Kart::KartDynamics::setBspParams	(	f32	rotSpeed,
		const EGG::Vector3f &	m,
		const EGG::Vector3f &	n,
		bool	skipInertia )

0x805B4DC4

On init, takes elements from the kart's BSP and computes the moment of inertia tensor.

Definition at line 74 of file KartDynamics.cc.

◆ setExtraRot()

void Kart::KartDynamics::setExtraRot ( const EGG::Quatf & q )

inline

Definition at line 58 of file KartDynamics.hh.

◆ setExtVel()

void Kart::KartDynamics::setExtVel ( const EGG::Vector3f & v )

inline

Definition at line 78 of file KartDynamics.hh.

◆ setForceUpright()

void Kart::KartDynamics::setForceUpright ( bool isSet )

inline

Definition at line 98 of file KartDynamics.hh.

◆ setFullRot()

void Kart::KartDynamics::setFullRot ( const EGG::Quatf & q )

inline

Definition at line 50 of file KartDynamics.hh.

◆ setGravity()

void Kart::KartDynamics::setGravity ( f32 gravity )

inline

Definition at line 42 of file KartDynamics.hh.

◆ setInertia()

void Kart::KartDynamics::setInertia	(	const EGG::Vector3f &	m,
		const EGG::Vector3f &	n )

0x805B4E84

Definition at line 62 of file KartDynamics.cc.

◆ setIntVel()

void Kart::KartDynamics::setIntVel ( const EGG::Vector3f & v )

inline

Definition at line 62 of file KartDynamics.hh.

◆ setKillExtVelY()

void Kart::KartDynamics::setKillExtVelY ( bool isSet )

inline

Definition at line 106 of file KartDynamics.hh.

◆ setMainRot()

void Kart::KartDynamics::setMainRot ( const EGG::Quatf & q )

inline

Definition at line 46 of file KartDynamics.hh.

◆ setNoGravity()

void Kart::KartDynamics::setNoGravity ( bool isSet )

inline

Definition at line 102 of file KartDynamics.hh.

◆ setPos()

void Kart::KartDynamics::setPos ( const EGG::Vector3f & pos )

inline

Definition at line 38 of file KartDynamics.hh.

◆ setSpecialRot()

void Kart::KartDynamics::setSpecialRot ( const EGG::Quatf & q )

inline

Definition at line 54 of file KartDynamics.hh.

◆ setStabilizationFactor()

void Kart::KartDynamics::setStabilizationFactor ( f32 val )

inline

Definition at line 70 of file KartDynamics.hh.

◆ setTop()

void Kart::KartDynamics::setTop ( const EGG::Vector3f & v )

inline

Definition at line 66 of file KartDynamics.hh.

◆ setTop_()

void Kart::KartDynamics::setTop_ ( const EGG::Vector3f & v )

inline

Definition at line 94 of file KartDynamics.hh.

◆ setTotalForce()

void Kart::KartDynamics::setTotalForce ( const EGG::Vector3f & v )

inline

Definition at line 74 of file KartDynamics.hh.

◆ speedFix()

f32 Kart::KartDynamics::speedFix ( ) const

inlinenodiscard

Definition at line 160 of file KartDynamics.hh.

◆ stabilize()

void Kart::KartDynamics::stabilize ( )

virtual0x805B5B68

Stabilizes the kart by rotating towards the y-axis unit vector.

Reimplemented in Kart::KartDynamicsBike.

Definition at line 20 of file KartDynamics.cc.

◆ totalForce()

const EGG::Vector3f & Kart::KartDynamics::totalForce ( ) const

inlinenodiscard

Definition at line 144 of file KartDynamics.hh.

◆ velocity()

const EGG::Vector3f & Kart::KartDynamics::velocity ( ) const

inlinenodiscard

Definition at line 124 of file KartDynamics.hh.

Member Data Documentation

◆ m_acceleration

EGG::Vector3f Kart::KartDynamics::m_acceleration

protected

Basically just m_totalForce.

Definition at line 171 of file KartDynamics.hh.

◆ m_angVel0

EGG::Vector3f Kart::KartDynamics::m_angVel0

protected

Angular velocity from m_totalTorque.

Definition at line 172 of file KartDynamics.hh.

◆ m_angVel0Factor

f32 Kart::KartDynamics::m_angVel0Factor

protected

Scalar for damping angular velocity.

Definition at line 168 of file KartDynamics.hh.

◆ m_angVel0YFactor

f32 Kart::KartDynamics::m_angVel0YFactor

protected

Scalar for damping angular velocity.

Definition at line 192 of file KartDynamics.hh.

◆ m_angVel1

EGG::Vector3f Kart::KartDynamics::m_angVel1

protected

[Unused]

Definition at line 174 of file KartDynamics.hh.

◆ m_angVel2

EGG::Vector3f Kart::KartDynamics::m_angVel2

protected

The main component of angular velocity.

Definition at line 178 of file KartDynamics.hh.

◆ m_extraRot

EGG::Quatf Kart::KartDynamics::m_extraRot

protected

[Unused]

Definition at line 184 of file KartDynamics.hh.

◆ m_extVel

EGG::Vector3f Kart::KartDynamics::m_extVel

protected

Velocity induced by collisions.

Definition at line 170 of file KartDynamics.hh.

◆ m_forceUpright

bool Kart::KartDynamics::m_forceUpright

protected

Specifies if we should return the vehicle to upwards orientation.

Definition at line 193 of file KartDynamics.hh.

◆ m_fullRot

EGG::Quatf Kart::KartDynamics::m_fullRot

protected

The combination of the other rotations.

Definition at line 180 of file KartDynamics.hh.

◆ m_gravity

f32 Kart::KartDynamics::m_gravity

protected

Always -1.0f.

Definition at line 185 of file KartDynamics.hh.

◆ m_inertiaTensor

EGG::Matrix34f Kart::KartDynamics::m_inertiaTensor

protected

Resistance to rotational change, as a 3x3 matrix.

Definition at line 166 of file KartDynamics.hh.

◆ m_intVel

EGG::Vector3f Kart::KartDynamics::m_intVel

protected

What you typically consider to be the vehicle's speed.

Definition at line 186 of file KartDynamics.hh.

◆ m_invInertiaTensor

EGG::Matrix34f Kart::KartDynamics::m_invInertiaTensor

protected

The inverse of m_inertiaTensor.

Definition at line 167 of file KartDynamics.hh.

◆ m_killExtVelY

bool Kart::KartDynamics::m_killExtVelY

protected

Caps external velocity at 0.

Definition at line 195 of file KartDynamics.hh.

◆ m_mainRot

EGG::Quatf Kart::KartDynamics::m_mainRot

protected

Rotation based on the angular velocities.

Definition at line 179 of file KartDynamics.hh.

◆ m_movingObjVel

EGG::Vector3f Kart::KartDynamics::m_movingObjVel

protected

Velocity from things like TF conveyers.

Definition at line 173 of file KartDynamics.hh.

◆ m_movingRoadVel

EGG::Vector3f Kart::KartDynamics::m_movingRoadVel

protected

Velocity from Koopa Cape water.

Definition at line 175 of file KartDynamics.hh.

◆ m_noGravity

bool Kart::KartDynamics::m_noGravity

protected

Disables gravity. Relevant when respawning.

Definition at line 194 of file KartDynamics.hh.

◆ m_pos

EGG::Vector3f Kart::KartDynamics::m_pos

protected

The vehicle's position.

Definition at line 169 of file KartDynamics.hh.

◆ m_specialRot

EGG::Quatf Kart::KartDynamics::m_specialRot

protected

Rotation from trick animations. Copied from KartPhysics.

Definition at line 183 of file KartDynamics.hh.

◆ m_speedFix

f32 Kart::KartDynamics::m_speedFix

protected

Definition at line 189 of file KartDynamics.hh.

◆ m_speedNorm

f32 Kart::KartDynamics::m_speedNorm

protected

Min of the max speed and m_velocity magnitude.

Definition at line 177 of file KartDynamics.hh.

◆ m_stabilizationFactor

f32 Kart::KartDynamics::m_stabilizationFactor

protected

Scalar for damping the main rotation.

Definition at line 188 of file KartDynamics.hh.

◆ m_top

EGG::Vector3f Kart::KartDynamics::m_top

protected

The unit vector pointing up from the vehicle.

Definition at line 187 of file KartDynamics.hh.

◆ m_top_

EGG::Vector3f Kart::KartDynamics::m_top_

protected

Basically m_top biased towards absolute up.

Note: This object is labeled as having a poor name. It should be renamed to better represent its purpose.

Definition at line 190 of file KartDynamics.hh.

◆ m_totalForce

EGG::Vector3f Kart::KartDynamics::m_totalForce

protected

Basically just gravity.

Definition at line 181 of file KartDynamics.hh.

◆ m_totalTorque

EGG::Vector3f Kart::KartDynamics::m_totalTorque

protected

Torque from linear motion and rotation.

Definition at line 182 of file KartDynamics.hh.

◆ m_velocity

EGG::Vector3f Kart::KartDynamics::m_velocity

protected

Sum of the linear velocities.

Definition at line 176 of file KartDynamics.hh.

Description

Public Member Functions

Setters

Getters

Protected Attributes

Constructor & Destructor Documentation

◆ KartDynamics()

Member Function Documentation

◆ angVel0()

◆ angVel0Factor()

◆ angVel2()

◆ applySuspensionWrench()

◆ applyWrenchScaled()

◆ calc()

◆ extVel()

◆ forceUpright()

◆ fullRot()

◆ gravity()

◆ init()

◆ intVel()

◆ invInertiaTensor()

◆ mainRot()

◆ pos()

◆ reset()

◆ resetInternalVelocity()

◆ setAngVel0()

◆ setAngVel0YFactor()

◆ setAngVel2()

◆ setBspParams()

◆ setExtraRot()

◆ setExtVel()

◆ setForceUpright()

◆ setFullRot()

◆ setGravity()

◆ setInertia()

◆ setIntVel()

◆ setKillExtVelY()

◆ setMainRot()

◆ setNoGravity()

◆ setPos()

◆ setSpecialRot()

◆ setStabilizationFactor()

◆ setTop()

◆ setTop_()

◆ setTotalForce()

◆ speedFix()

◆ stabilize()

◆ totalForce()

◆ velocity()

Member Data Documentation

◆ m_acceleration

◆ m_angVel0

◆ m_angVel0Factor

◆ m_angVel0YFactor

◆ m_angVel1

◆ m_angVel2

◆ m_extraRot

◆ m_extVel

◆ m_forceUpright

◆ m_fullRot

◆ m_gravity

◆ m_inertiaTensor

◆ m_intVel

◆ m_invInertiaTensor

◆ m_killExtVelY

◆ m_mainRot

◆ m_movingObjVel

◆ m_movingRoadVel

◆ m_noGravity

◆ m_pos

◆ m_specialRot

◆ m_speedFix

◆ m_speedNorm

◆ m_stabilizationFactor

◆ m_top

◆ m_top_

◆ m_totalForce

◆ m_totalTorque

◆ m_velocity