reactphysics3d/sources/body/RigidBody.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010 Daniel Chappuis                                            *
*********************************************************************************
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* THE SOFTWARE.                                                                 *
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// Libraries
#include "RigidBody.h"
#include "BroadBoundingVolume.h"
#include "NarrowBoundingVolume.h"

 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;

 // Constructor
 RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, double mass, const Matrix3x3& inertiaTensorLocal,
                      NarrowBoundingVolume* narrowBoundingVolume)
           : Body(mass), position(position), orientation(orientation.getUnit()), inertiaTensorLocal(inertiaTensorLocal),
             inertiaTensorLocalInverse(inertiaTensorLocal.getInverse()), massInverse(1.0/mass), oldPosition(position), oldOrientation(orientation) {

    restitution = 1.0;
    isMotionEnabled = true;
    isCollisionEnabled = true;
    interpolationFactor = 0.0;

    // Set the bounding volume for the narrow-phase collision detection
    setNarrowBoundingVolume(narrowBoundingVolume);

    // Compute the broad-phase bounding volume (an AABB)
    setBroadBoundingVolume(narrowBoundingVolume->computeAABB());

    // Update the orientation of the OBB according to the orientation of the rigid body
    update();

    assert(broadBoundingVolume);
    assert(narrowBoundingVolume);
}

// Destructor
RigidBody::~RigidBody() {

};

// Update the rigid body in order to reflect a change in the body state
void RigidBody::update() {
    // Update the orientation of the corresponding bounding volumes of the rigid body
    broadBoundingVolume->update(position, orientation);
    narrowBoundingVolume->update(position, orientation);
}