23438486a6
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@341 92aac97c-a6ce-11dd-a772-7fcde58d38e6
76 lines
3.9 KiB
C++
76 lines
3.9 KiB
C++
/****************************************************************************
|
|
* 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 <http://www.gnu.org/licenses/>. *
|
|
***************************************************************************/
|
|
|
|
// Libraries
|
|
#include "RigidBody.h"
|
|
|
|
// We want to use the ReactPhysics3D namespace
|
|
using namespace reactphysics3d;
|
|
|
|
// Constructor
|
|
RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensorLocal, const OBB& obb)
|
|
: Body(mass), inertiaTensorLocal(inertiaTensorLocal), currentBodyState(position, orientation, inertiaTensorLocal.getInverse(), Kilogram(1.0/mass.getValue())),
|
|
previousBodyState(position, orientation, inertiaTensorLocal.getInverse(), Kilogram(1.0/mass.getValue())), obb(obb) {
|
|
|
|
restitution = 1.0;
|
|
isMotionEnabled = true;
|
|
isCollisionEnabled = true;
|
|
interpolationFactor = 0.0;
|
|
|
|
// Update the orientation of the OBB according to the orientation of the rigid body
|
|
this->update();
|
|
|
|
// Set the body pointer to the OBB
|
|
this->obb.setBodyPointer(this);
|
|
}
|
|
|
|
// Copy-constructor
|
|
RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensorLocal(rigidBody.inertiaTensorLocal),
|
|
currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState), obb(rigidBody.obb) {
|
|
this->isMotionEnabled = rigidBody.isMotionEnabled;
|
|
this->isCollisionEnabled = rigidBody.isCollisionEnabled;
|
|
interpolationFactor = rigidBody.interpolationFactor;
|
|
}
|
|
|
|
// Destructor
|
|
RigidBody::~RigidBody() {
|
|
|
|
};
|
|
|
|
// Compute the linear interpolation state between the previous body state and the current body state
|
|
// This is used to avoid visual stuttering when the display and physics framerates are out of synchronization
|
|
BodyState RigidBody::getInterpolatedState() const {
|
|
|
|
// Get the interpolation factor
|
|
double alpha = interpolationFactor;
|
|
|
|
// Compute the linear interpolation state
|
|
BodyState interpolatedState = currentBodyState; // Used to take massInverse, inertiaTensorInverse
|
|
interpolatedState.setPosition(previousBodyState.getPosition() * (1-alpha) + currentBodyState.getPosition() * alpha);
|
|
interpolatedState.setLinearMomentum(previousBodyState.getLinearMomentum() * (1-alpha) + currentBodyState.getLinearMomentum() * alpha);
|
|
interpolatedState.setOrientation(Quaternion::slerp(previousBodyState.getOrientation(), currentBodyState.getOrientation(), alpha));
|
|
interpolatedState.setAngularMomentum(previousBodyState.getAngularMomentum() * (1-alpha) + currentBodyState.getAngularMomentum() * alpha);
|
|
|
|
// Recalculate the secondary state values
|
|
interpolatedState.recalculate();
|
|
|
|
// Return the interpolated state
|
|
return interpolatedState;
|
|
}
|