c1eabd3e2b
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@460 92aac97c-a6ce-11dd-a772-7fcde58d38e6
187 lines
9.4 KiB
C++
187 lines
9.4 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef RIGIDBODY_H
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#define RIGIDBODY_H
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// Libraries
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#include <cassert>
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#include "Body.h"
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#include "../shapes/Collider.h"
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#include "../mathematics/mathematics.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class RigidBody :
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This class represents a rigid body of the physics
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engine. A rigid body is a non-deformable body that
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has a constant mass.
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-------------------------------------------------------------------
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*/
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class RigidBody : public Body {
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protected :
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Vector3 linearVelocity; // Linear velocity of the body
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Vector3 angularVelocity; // Angular velocity of the body
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Vector3 externalForce; // Current external force on the body
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Vector3 externalTorque; // Current external torque on the body
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Matrix3x3 inertiaTensorLocal; // Local inertia tensor of the body (in body coordinates)
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Matrix3x3 inertiaTensorLocalInverse; // Inverse of the inertia tensor of the body (in body coordinates)
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decimal massInverse; // Inverse of the mass of the body
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decimal restitution; // Coefficient of restitution (between 0 and 1), 1 for a very boucing body
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public :
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RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal,
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Collider* collider, long unsigned int id); // Constructor // Copy-constructor
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virtual ~RigidBody(); // Destructor
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Vector3 getLinearVelocity() const; // Return the linear velocity
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void setLinearVelocity(const Vector3& linearVelocity); // Set the linear velocity of the body
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Vector3 getAngularVelocity() const; // Return the angular velocity
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void setAngularVelocity(const Vector3& angularVelocity); // Set the angular velocity
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void setMassInverse(decimal massInverse); // Set the inverse of the mass
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Vector3 getExternalForce() const; // Return the current external force of the body
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void setExternalForce(const Vector3& force); // Set the current external force on the body
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Vector3 getExternalTorque() const; // Return the current external torque of the body
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void setExternalTorque(const Vector3& torque); // Set the current external torque of the body
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decimal getMassInverse() const; // Return the inverse of the mass of the body
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Matrix3x3 getInertiaTensorLocal() const; // Return the local inertia tensor of the body (in body coordinates)
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void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal); // Set the local inertia tensor of the body (in body coordinates)
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Matrix3x3 getInertiaTensorLocalInverse() const; // Get the inverse of the inertia tensor
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Matrix3x3 getInertiaTensorWorld() const; // Return the inertia tensor in world coordinates
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Matrix3x3 getInertiaTensorInverseWorld() const; // Return the inverse of the inertia tensor in world coordinates
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decimal getRestitution() const; // Get the restitution coefficient
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void setRestitution(decimal restitution) throw(std::invalid_argument); // Set the restitution coefficient
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};
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// Return the linear velocity
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inline Vector3 RigidBody::getLinearVelocity() const {
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return linearVelocity;
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}
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// Return the angular velocity of the body
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inline Vector3 RigidBody::getAngularVelocity() const {
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return angularVelocity;
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}
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inline void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
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this->angularVelocity = angularVelocity;
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}
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// Set the inverse of the mass
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inline void RigidBody::setMassInverse(decimal massInverse) {
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this->massInverse = massInverse;
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}
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// Get the inverse of the inertia tensor
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inline Matrix3x3 RigidBody::getInertiaTensorLocalInverse() const {
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return inertiaTensorLocalInverse;
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}
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// Return the external force on the body
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inline Vector3 RigidBody::getExternalForce() const {
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return externalForce;
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}
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// Set the external force on the body
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inline void RigidBody::setExternalForce(const Vector3& force) {
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this->externalForce = force;
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}
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// Return the current external torque on the body
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inline Vector3 RigidBody::getExternalTorque() const {
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return externalTorque;
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}
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// Set the current external torque on the body
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inline void RigidBody::setExternalTorque(const Vector3& torque) {
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this->externalTorque = torque;
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}
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// Return the inverse of the mass of the body
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inline decimal RigidBody::getMassInverse() const {
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return massInverse;
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}
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// Return the local inertia tensor of the body (in body coordinates)
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inline Matrix3x3 RigidBody::getInertiaTensorLocal() const {
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return inertiaTensorLocal;
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}
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// Set the local inertia tensor of the body (in body coordinates)
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inline void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
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this->inertiaTensorLocal = inertiaTensorLocal;
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}
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// Return the inertia tensor in world coordinates
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// The inertia tensor I_w in world coordinates in computed with the local inertia tensor I_b in body coordinates
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// by I_w = R * I_b * R^T
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// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body
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inline Matrix3x3 RigidBody::getInertiaTensorWorld() const {
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// Compute and return the inertia tensor in world coordinates
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return transform.getOrientation().getMatrix() * inertiaTensorLocal * transform.getOrientation().getMatrix().getTranspose();
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}
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// Return the inverse of the inertia tensor in world coordinates
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// The inertia tensor I_w in world coordinates in computed with the local inverse inertia tensor I_b^-1 in body coordinates
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// by I_w = R * I_b^-1 * R^T
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// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body
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inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
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// Compute and return the inertia tensor in world coordinates
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return transform.getOrientation().getMatrix() * inertiaTensorLocalInverse * transform.getOrientation().getMatrix().getTranspose();
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}
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// Set the linear velocity of the rigid body
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inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
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// If the body is able to move
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if (isMotionEnabled) {
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// Update the linear velocity of the current body state
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this->linearVelocity = linearVelocity;
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}
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}
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// Get the restitution coeffficient of the rigid body
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inline decimal RigidBody::getRestitution() const {
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return restitution;
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}
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// Set the restitution coefficient
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inline void RigidBody::setRestitution(decimal restitution) throw(std::invalid_argument) {
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// Check if the restitution coefficient is between 0 and 1
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if (restitution >= 0.0 && restitution <= 1.0) {
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this->restitution = restitution;
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}
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else {
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throw std::invalid_argument("Error : the restitution coefficent must be between 0 and 1");
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}
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}
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} // End of the ReactPhyscis3D namespace
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#endif
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