diff --git a/sources/reactphysics3d/body/BodyState.cpp b/sources/reactphysics3d/body/BodyState.cpp
deleted file mode 100644
index e251acee..00000000
--- a/sources/reactphysics3d/body/BodyState.cpp
+++ /dev/null
@@ -1,102 +0,0 @@
-/****************************************************************************
- * Copyright (C) 2009 Daniel Chappuis *
- ****************************************************************************
- * This file is part of ReactPhysics3D. *
- * *
- * ReactPhysics3D is free software: you can redistribute it and/or modify *
- * it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or *
- * (at your option) any later version. *
- * *
- * ReactPhysics3D is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU Lesser General Public License for more details. *
- * *
- * You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see . *
- ***************************************************************************/
-
- // Libraries
- #include "BodyState.h"
- #include
- #include
-
- // We want to use the ReactPhysics3D namespace
- using namespace reactphysics3d;
-
- // Constructor
- BodyState::BodyState(const Vector3D& position, const Quaternion& orientation, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse)
- : position(position), orientation(orientation), inertiaTensorInverse(inertiaTensorInverse), massInverse(massInverse) {
-
- // Recalculate the secondary values from the primary values
- recalculate();
-}
-
-// Copy-constructor
-BodyState::BodyState(const BodyState& bodyState)
- : position(bodyState.position), linearMomentum(bodyState.linearMomentum), orientation(bodyState.orientation),
- angularMomentum(bodyState.angularMomentum), linearVelocity(bodyState.linearVelocity),
- angularVelocity(bodyState.angularVelocity), spin(bodyState.spin), inertiaTensorInverse(bodyState.inertiaTensorInverse),
- massInverse(bodyState.massInverse), externalForce(bodyState.externalForce) {
-}
-
-// Destructor
-BodyState::~BodyState() {
-
-}
-
-// Recalculate the secondary values of the BodyState when the primary values have changed
-void BodyState::recalculate() {
-
- // Compute the linear velocity
- linearVelocity = linearMomentum * massInverse.getValue();
-
- // Compute the angular velocity
- angularVelocity = inertiaTensorInverse * angularMomentum;
-
- // Normalize the orientation quaternion
- orientation = orientation.getUnit();
-
- // Compute the spin quaternion
- spin = Quaternion(angularVelocity.getX(), angularVelocity.getY(), angularVelocity.getZ(), 0) * orientation * 0.5;
-}
-
-// Compute the body state at time t + dt
-// This method is used with integration methods that need to compute the state at a future
-// time (like Runge-Kutta 4 integrator)
-void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState) {
-
- double dt = timeStep.getValue(); // Timestep
-
- // Compute the position at time t + dt
- position = position + lastDerivativeBodyState.getLinearVelocity() * dt;
-
- // Compute the linear momentum at time t + dt
- linearMomentum = linearMomentum + lastDerivativeBodyState.getForce() * dt;
-
- // Compute the orientation at time t + dt
- orientation = orientation + lastDerivativeBodyState.getSpin() * dt;
-
- // Compute the angular momentum at time t + dt
- angularMomentum = angularMomentum + lastDerivativeBodyState.getTorque() * dt;
-
- // Recalculate the secondary values of the body state
- recalculate();
-}
-
-// Return the force on the body at time t
-// This method is used with integration methods that need to compute the state at a future
-// time (like Runge-Kutta 4 integrator)
-Vector3D BodyState::computeForce(Time time) const {
- // TODO : Implement this method (we want that the user of the library could define this method)
- return externalForce;
-}
-
-// Return the torque on the body at time
-// This method is used with integration methods that need to compute the state at a future
-// time (like Runge-Kutta 4 integrator)
-Vector3D BodyState::computeTorque(Time time) const {
- // TODO : Implement this method (we want that the user of the library could define this method)
- return externalTorque;
-}
diff --git a/sources/reactphysics3d/body/BodyState.h b/sources/reactphysics3d/body/BodyState.h
deleted file mode 100644
index 2f6ba6fa..00000000
--- a/sources/reactphysics3d/body/BodyState.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/****************************************************************************
- * Copyright (C) 2009 Daniel Chappuis *
- ****************************************************************************
- * This file is part of ReactPhysics3D. *
- * *
- * ReactPhysics3D is free software: you can redistribute it and/or modify *
- * it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or *
- * (at your option) any later version. *
- * *
- * ReactPhysics3D is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU Lesser General Public License for more details. *
- * *
- * You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see . *
- ***************************************************************************/
-
-#ifndef BODYSTATE_H
-#define BODYSTATE_H
-
-// Libraries
-#include "../mathematics/mathematics.h"
-#include "../physics/physics.h"
-#include "DerivativeBodyState.h"
-
-// Namespace reactphysics3d
-namespace reactphysics3d {
-
-// TODO : Remove this class and put everything in the RigidBody class
-
-/* -------------------------------------------------------------------
- Class BodyState :
- A BodyState contains all the dynamics values of a body.
- -------------------------------------------------------------------
-*/
-class BodyState {
- private :
- // Primary values
- Vector3D position; // Position of the body
- Vector3D linearMomentum; // Linear momentum of the body
- Quaternion orientation; // Orientation quaternion of the body
- Vector3D angularMomentum; // Angular momentum of the body
- Vector3D externalForce; // Current external force on the body
- Vector3D externalTorque; // Current external torque on the body
-
- // Secondary values
- Vector3D linearVelocity; // Linear velocity of the body
- Vector3D angularVelocity; // Angular velocity of the body
- Quaternion spin; // Spin is the derivative of orientation quaternion over time.
-
- // Constants
- Matrix3x3 inertiaTensorInverse; // Inverse of the inertia tensor of the body
- Kilogram massInverse; // Inverse of the mass of the body
-
- public :
- BodyState(const Vector3D& position, const Quaternion& orientation, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse); // Constructor
- BodyState(const BodyState& bodyState); // Copy-constructor
- virtual ~BodyState(); // Destructor
-
- Vector3D getPosition() const; // Return the position of the body
- void setPosition(const Vector3D& position); // Set the position of the body
- Vector3D getLinearMomentum() const; // Return the linear momemtum
- void setLinearMomentum(const Vector3D& linearMomentum); // Set the linear momentum
- Quaternion getOrientation() const; // Return the orientation quaternion
- void setOrientation(const Quaternion& orientation); // Set the orientation quaternion
- Vector3D getAngularMomentum() const; // Return the angular momentum
- void setAngularMomentum(const Vector3D& angularMomentum); // Set the angular momentum
- Vector3D getLinearVelocity() const; // Return the linear velocity
- void setLinearVelocity(const Vector3D& linearVelocity); // TODO : Delete this
- Vector3D getAngularVelocity() const; // Return the angular velocity
- void setAngularVelocity(const Vector3D& angularVelocity);
- Quaternion getSpin() const; // Return the spin of the body
- void setSpin(const Quaternion& spin);
- void setMassInverse(Kilogram massInverse); // Set the inverse of the mass
- Matrix3x3 getInertiaTensorInverse() const; // Get the inverse of the inertia tensor
- void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor
- Vector3D getExternalForce() const; // Return the current external force of the body
- void setExternalForce(const Vector3D& force); // Set the current external force on the body
- Vector3D getExternalTorque() const; // Return the current external torque of the body
- void setExternalTorque(const Vector3D& torque); // Set the current external torque of the body
- Kilogram getMassInverse() const; // TODO : Delete this
- void recalculate(); // Recalculate the secondary values
- // of the BodyState from the primary ones
- void computeAtTime(const Time& timeStep,
- const DerivativeBodyState& lastDerivativeBodyState); // Compute the body state at time t + dt
- Vector3D computeForce(Time time) const; // Return the force on the body at time t
- Vector3D computeTorque(Time time) const; // Return the torque on the body at time t
-};
-
-// --- Inlines functions --- //
-
-// Return the position of the body
-inline Vector3D BodyState::getPosition() const {
- return position;
-}
-
-// Set the position of the body
-inline void BodyState::setPosition(const Vector3D& position) {
- this->position = position;
-}
-
-// Return the linear momentum of the body
-inline Vector3D BodyState::getLinearMomentum() const {
- return linearMomentum;
-}
-
-// Set the linear momentum of the body
-inline void BodyState::setLinearMomentum(const Vector3D& linearMomentum) {
- this->linearMomentum = linearMomentum;
-}
-
-// Return the orientation quaternion of the body
-inline Quaternion BodyState::getOrientation() const {
- return orientation;
-}
-
-// Set the orientation quaternion
-inline void BodyState::setOrientation(const Quaternion& orientation) {
- this->orientation = orientation;
-}
-
-// Return the angular momentum of the body
-inline Vector3D BodyState::getAngularMomentum() const {
- return angularMomentum;
-}
-
-// Set the angular momentum of the body
-inline void BodyState::setAngularMomentum(const Vector3D& angularMomentum) {
- this->angularMomentum = angularMomentum;
-}
-
-// Return the linear velocity
-inline Vector3D BodyState::getLinearVelocity() const {
- return linearVelocity;
-}
-
-inline void BodyState::setLinearVelocity(const Vector3D& linearVelocity) {
- this->linearVelocity = linearVelocity;
-}
-
-// Return the angular velocity of the body
-inline Vector3D BodyState::getAngularVelocity() const {
- return angularVelocity;
-}
-
- inline void BodyState::setAngularVelocity(const Vector3D& angularVelocity) {
- this->angularVelocity = angularVelocity;
- }
-
-// Return the spin of the body
-inline Quaternion BodyState::getSpin() const {
- return spin;
-}
-
-inline void BodyState::setSpin(const Quaternion& spin) {
- this->spin = spin;
-}
-
-// Set the inverse of the mass
-inline void BodyState::setMassInverse(Kilogram massInverse) {
- this->massInverse = massInverse;
-}
-
-// Get the inverse of the inertia tensor
-inline Matrix3x3 BodyState::getInertiaTensorInverse() const {
- return inertiaTensorInverse;
-}
-
-// Set the inverse of the inertia tensor
-inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) {
- this->inertiaTensorInverse = inertiaTensorInverse;
-}
-
-// Return the external force on the body
-inline Vector3D BodyState::getExternalForce() const {
- return externalForce;
-}
-
-// Set the external force on the body
-inline void BodyState::setExternalForce(const Vector3D& force) {
- this->externalForce = force;
-}
-
-// Return the current external torque on the body
-inline Vector3D BodyState::getExternalTorque() const {
- return externalTorque;
-}
-
- // Set the current external torque on the body
-inline void BodyState::setExternalTorque(const Vector3D& torque) {
- this->externalTorque = torque;
-}
-
-
-// TODO : Delete this
-inline Kilogram BodyState::getMassInverse() const {
- return massInverse;
-}
-
-} // End of the ReactPhysics3D namespace
-
-#endif
diff --git a/sources/reactphysics3d/body/DerivativeBodyState.cpp b/sources/reactphysics3d/body/DerivativeBodyState.cpp
deleted file mode 100644
index 75bc8585..00000000
--- a/sources/reactphysics3d/body/DerivativeBodyState.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/****************************************************************************
- * Copyright (C) 2009 Daniel Chappuis *
- ****************************************************************************
- * This file is part of ReactPhysics3D. *
- * *
- * ReactPhysics3D is free software: you can redistribute it and/or modify *
- * it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or *
- * (at your option) any later version. *
- * *
- * ReactPhysics3D is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU Lesser General Public License for more details. *
- * *
- * You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see . *
- ***************************************************************************/
-
-// Libraries
-#include "DerivativeBodyState.h"
-
-// We want to use the ReactPhysics3D namespace
-using namespace reactphysics3d;
-
-// Constructor
-DerivativeBodyState::DerivativeBodyState(const Vector3D& linearVelocity, const Vector3D& force, const Vector3D& torque,
- const Quaternion& spin) : linearVelocity(linearVelocity), force(force), torque(torque),
- spin(spin) {
-
-}
-
-// Copy-constructor
-DerivativeBodyState::DerivativeBodyState(const DerivativeBodyState& derivativeBodyState)
- : linearVelocity(derivativeBodyState.linearVelocity), force(derivativeBodyState.force),
- torque(derivativeBodyState.torque), spin(derivativeBodyState.spin) {
-
-}
-
-// Destructor
-DerivativeBodyState::~DerivativeBodyState() {
-
-}
diff --git a/sources/reactphysics3d/body/DerivativeBodyState.h b/sources/reactphysics3d/body/DerivativeBodyState.h
deleted file mode 100644
index dec4ddda..00000000
--- a/sources/reactphysics3d/body/DerivativeBodyState.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/****************************************************************************
- * Copyright (C) 2009 Daniel Chappuis *
- ****************************************************************************
- * This file is part of ReactPhysics3D. *
- * *
- * ReactPhysics3D is free software: you can redistribute it and/or modify *
- * it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or *
- * (at your option) any later version. *
- * *
- * ReactPhysics3D is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU Lesser General Public License for more details. *
- * *
- * You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see . *
- ***************************************************************************/
-
-#ifndef DERIVATIVEBODYSTATE_H
-#define DERIVATIVEBODYSTATE_H
-
-// Libraries
-#include "../mathematics/mathematics.h"
-
-// Namespace ReactPhysics3D
-namespace reactphysics3d {
-
-/* -------------------------------------------------------------------
- Class DerivativeBodyState :
- This class represents a derivative of a body state at time t.
- This class is used in the numerical integrator to compute the
- derivative of a body state at different times.
- -------------------------------------------------------------------
-*/
-class DerivativeBodyState {
- private :
- Vector3D linearVelocity; // Linear velocity of the body
- Vector3D force; // Force applied to the body
- Vector3D torque; // Torque applied to the body
- Quaternion spin; // Quaternion spin of the body
-
- public :
- DerivativeBodyState(const Vector3D& linearVelocity, const Vector3D& force, const Vector3D& torque,
- const Quaternion& spin); // Constructor
- DerivativeBodyState(const DerivativeBodyState& derivativeBodyState); // Copy-constructor
- virtual ~DerivativeBodyState(); // Destructor
-
- Vector3D getLinearVelocity() const; // Return the linear velocity
- Vector3D getForce() const; // Return the force
- Vector3D getTorque() const; // Return the torque
- Quaternion getSpin() const; // Return the spin
-};
-
-// --- Inline functions --- //
-
-// Return the linear velocity
-inline Vector3D DerivativeBodyState::getLinearVelocity() const {
- return linearVelocity;
-}
-
-// Return the force
-inline Vector3D DerivativeBodyState::getForce() const {
- return force;
-}
-
-// Return the torque
-inline Vector3D DerivativeBodyState::getTorque() const {
- return torque;
-}
-
-// Return the spin
-inline Quaternion DerivativeBodyState::getSpin() const {
- return spin;
-}
-
-}
-
-#endif