92dabf7f7f
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@342 92aac97c-a6ce-11dd-a772-7fcde58d38e6
163 lines
8.4 KiB
C++
163 lines
8.4 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/>. *
|
|
***************************************************************************/
|
|
|
|
#ifndef RIGIDBODY_H
|
|
#define RIGIDBODY_H
|
|
|
|
// Libraries
|
|
#include <cassert>
|
|
#include "Body.h"
|
|
#include "BodyState.h"
|
|
#include "OBB.h"
|
|
#include "../mathematics/mathematics.h"
|
|
#include "../physics/physics.h"
|
|
|
|
// Namespace reactphysics3d
|
|
namespace reactphysics3d {
|
|
|
|
// TODO : Check if it is possible to put all the attributes from BodyState class in the RigidBody class (to do this, the
|
|
// class RungeKutta have to be changed a lot
|
|
|
|
/* -------------------------------------------------------------------
|
|
Class RigidBody :
|
|
This class represents a rigid body of the physics
|
|
engine. A rigid body is a non-deformable body that
|
|
has a constant mass.
|
|
-------------------------------------------------------------------
|
|
*/
|
|
class RigidBody : public Body {
|
|
protected :
|
|
Matrix3x3 inertiaTensorLocal; // Local inertia tensor of the body (in body coordinates)
|
|
BodyState currentBodyState; // Current body state
|
|
BodyState previousBodyState; // Previous body state
|
|
double interpolationFactor; // Interpolation factor used for the state interpolation
|
|
double restitution; // Coefficient of restitution (between 0 and 1), 1 for a very boucing body
|
|
OBB obb; // Oriented bounding box that contains the rigid body
|
|
|
|
public :
|
|
RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensorLocal, const OBB& obb); // Constructor
|
|
RigidBody(const RigidBody& rigidBody); // Copy-constructor
|
|
virtual ~RigidBody(); // Destructor
|
|
|
|
Matrix3x3 getInertiaTensorLocal() const; // Return the local inertia tensor of the body (in body coordinates)
|
|
void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal); // Set the local inertia tensor of the body (in body coordinates)
|
|
Matrix3x3 getInertiaTensorWorld() const; // Return the inertia tensor in world coordinates
|
|
Matrix3x3 getInertiaTensorInverseWorld() const; // Return the inverse of the inertia tensor in world coordinates
|
|
BodyState& getCurrentBodyState(); // Return a reference to the current state of the body
|
|
BodyState& getPreviousBodyState(); // TODO : DELETE THIS
|
|
void setInterpolationFactor(double factor); // Set the interpolation factor of the body
|
|
BodyState getInterpolatedState() const; // Compute and return the interpolated state
|
|
void setLinearVelocity(const Vector3D& linearVelocity); // Set the linear velocity of the rigid body
|
|
double getRestitution() const; // Get the restitution coefficient
|
|
void setRestitution(double restitution); // Set the restitution coefficient
|
|
void updatePreviousBodyState(); // Update the previous body state of the body
|
|
const OBB* const getOBB() const; // Return the oriented bounding box of the rigid body
|
|
void update(); // Update the rigid body in order to reflect a change in the body state
|
|
};
|
|
|
|
// --- Inline functions --- //
|
|
|
|
// Return the local inertia tensor of the body (in body coordinates)
|
|
inline Matrix3x3 RigidBody::getInertiaTensorLocal() const {
|
|
return inertiaTensorLocal;
|
|
}
|
|
|
|
// Set the local inertia tensor of the body (in body coordinates)
|
|
inline void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
|
|
this->inertiaTensorLocal = inertiaTensorLocal;
|
|
}
|
|
|
|
// Return the inertia tensor in world coordinates
|
|
// The inertia tensor I_w in world coordinates in computed with the local inertia tensor I_b in body coordinates
|
|
// by I_w = R * I_b * R^T
|
|
// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body
|
|
inline Matrix3x3 RigidBody::getInertiaTensorWorld() const {
|
|
// Compute and return the inertia tensor in world coordinates
|
|
return currentBodyState.getOrientation().getMatrix() * inertiaTensorLocal * currentBodyState.getOrientation().getMatrix().getTranspose();
|
|
}
|
|
|
|
// Return the inverse of the inertia tensor in world coordinates
|
|
// The inertia tensor I_w in world coordinates in computed with the local inverse inertia tensor I_b^-1 in body coordinates
|
|
// by I_w = R * I_b^-1 * R^T
|
|
// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body
|
|
inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
|
|
// Compute and return the inertia tensor in world coordinates
|
|
return currentBodyState.getOrientation().getMatrix() * currentBodyState.getInertiaTensorInverse() * currentBodyState.getOrientation().getMatrix().getTranspose();
|
|
}
|
|
|
|
// Return a reference to the current state of the body
|
|
// This way the currentBodyState could be modify outside the rigid body
|
|
inline BodyState& RigidBody::getCurrentBodyState() {
|
|
return currentBodyState;
|
|
}
|
|
|
|
// TODO : DELETE THIS
|
|
inline BodyState& RigidBody::getPreviousBodyState() {
|
|
return previousBodyState;
|
|
}
|
|
|
|
|
|
// Set the interpolation factor of the body
|
|
inline void RigidBody::setInterpolationFactor(double factor) {
|
|
assert(factor >= 0 && factor <= 1);
|
|
|
|
// Set the factor
|
|
interpolationFactor = factor;
|
|
}
|
|
|
|
// Set the linear velocity of the rigid body
|
|
inline void RigidBody::setLinearVelocity(const Vector3D& linearVelocity) {
|
|
// Update the linear velocity of the current body state
|
|
currentBodyState.setLinearVelocity(linearVelocity);
|
|
|
|
// Update the linear momentum of the current body state
|
|
currentBodyState.setLinearMomentum(linearVelocity * (1.0/currentBodyState.getMassInverse().getValue()));
|
|
}
|
|
|
|
// Get the restitution coeffficient of the rigid body
|
|
inline double RigidBody::getRestitution() const {
|
|
return restitution;
|
|
}
|
|
|
|
// Set the restitution coefficient
|
|
inline void RigidBody::setRestitution(double restitution) {
|
|
this->restitution = restitution;
|
|
}
|
|
|
|
// Update the previous body state of the body
|
|
inline void RigidBody::updatePreviousBodyState() {
|
|
// The current body state becomes the previous body state
|
|
previousBodyState = currentBodyState;
|
|
}
|
|
|
|
// Return the oriented bounding box of the rigid body
|
|
inline const OBB* const RigidBody::getOBB() const {
|
|
return &obb;
|
|
}
|
|
|
|
// Update the rigid body in order to reflect a change in the body state
|
|
inline void RigidBody::update() {
|
|
// Update the orientation of the corresponding bounding volume of the rigid body
|
|
obb.updateOrientation(currentBodyState.getPosition(), currentBodyState.getOrientation());
|
|
}
|
|
|
|
} // End of the ReactPhyscis3D namespace
|
|
|
|
#endif
|