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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@74 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-02-09 11:21:46 +00:00
parent 2079853ccd
commit 06b57b2c99
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39
sources/reactphysics3d/body/Body.cpp Normal file
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/****************************************************************************
* 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() {
}

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sources/reactphysics3d/body/RigidBody.cpp Normal file
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/****************************************************************************
* 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);
}