From 06b57b2c99c5ae67a8f724cbba212a5192cf5d6e Mon Sep 17 00:00:00 2001
From: "chappuis.daniel" <chappuis.daniel@92aac97c-a6ce-11dd-a772-7fcde58d38e6>
Date: Mon, 9 Feb 2009 11:21:46 +0000
Subject: [PATCH] git-svn-id:
 https://reactphysics3d.googlecode.com/svn/trunk@74
 92aac97c-a6ce-11dd-a772-7fcde58d38e6

---
 sources/reactphysics3d/body/Body.cpp      | 39 ++++++++++++++++
 sources/reactphysics3d/body/RigidBody.cpp | 57 +++++++++++++++++++++++
 2 files changed, 96 insertions(+)
 create mode 100644 sources/reactphysics3d/body/Body.cpp
 create mode 100644 sources/reactphysics3d/body/RigidBody.cpp

diff --git a/sources/reactphysics3d/body/Body.cpp b/sources/reactphysics3d/body/Body.cpp
new file mode 100644
index 00000000..41d62045
--- /dev/null
+++ b/sources/reactphysics3d/body/Body.cpp
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * 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 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 General Public License for more details.                             *
+ *                                                                          *
+ * You should have received a copy of the GNU General Public License        *
+ * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+ ***************************************************************************/
+
+ // Libraries
+ #include "Body.h"
+
+  // We want to use the ReactPhysics3D namespace
+ using namespace reactphysics3d;
+
+ // Constructor
+ Body::Body(Kilogram mass) {
+    this->mass = mass;
+ }
+
+ // Copy-constructor
+ Body::Body(const Body& body) {
+    this->mass = body.mass;
+ }
+
+ // Destructor
+ Body::~Body() {
+
+ }
diff --git a/sources/reactphysics3d/body/RigidBody.cpp b/sources/reactphysics3d/body/RigidBody.cpp
new file mode 100644
index 00000000..0a4052cc
--- /dev/null
+++ b/sources/reactphysics3d/body/RigidBody.cpp
@@ -0,0 +1,57 @@
+/****************************************************************************
+ * 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 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 General Public License for more details.                             *
+ *                                                                          *
+ * You should have received a copy of the GNU 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 Kilogram& mass, const Matrix3x3& inertiaTensor)
+           : Body(mass), inertiaTensor(inertiaTensor),
+             currentBodyState(position, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
+             previousBodyState(position, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
+        isMotionEnabled = true;
+        isCollisionEnabled = true;
+ }
+
+ // Copy-constructor
+ RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensor(rigidBody.inertiaTensor),
+            currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState) {
+    this->isMotionEnabled = rigidBody.isMotionEnabled;
+    this->isCollisionEnabled = rigidBody.isCollisionEnabled;
+ }
+
+ // Destructor
+ RigidBody::~RigidBody() {
+
+ };
+
+// Return the force on the body at time t
+Vector3D RigidBody::computeForce(Time time) const {
+    // TODO : Implement this method
+    return Vector3D(1*time.getValue(),0,0);
+}
+
+// Return the torque on the body at time
+Vector3D RigidBody::computeTorque(Time time) const {
+    // TODO : Implement this method
+    return Vector3D(1*time.getValue(),0,0);
+}