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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@71 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-02-09 09:08:33 +00:00
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56
sources/reactphysics3d/body/Body.h 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/>. *
***************************************************************************/
#ifndef BODY_H
#define BODY_H
// Namespace reactphysics3d
namespace reactphysics3d {
/* -------------------------------------------------------------------
Class Body :
This class is an abstract class to represent body of the physics
engine.
-------------------------------------------------------------------
*/
class Body {
private :
double mass; // Mass of the body
public :
Body(double mass); // Constructor
double getMass(); // Return the mass of the body
void setMass(double mass); // Set the mass of the body
};
// --- Inlines function --- //
// Method that return the mass of the body
inline double Body::getMass() {
return mass;
};
// Method that set the mass of the body
inline void Body::setMass(double mass) {
this->mass = mass;
}
}
#endif

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sources/reactphysics3d/body/BodyState.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 "BodyState.h"
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
BodyState::BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, double massInverse) {
this->position = position;
this->inertiaTensorInverse = inertiaTensorInverse;
this->massInverse = massInverse;
}
// Copy-constructor
BodyState::BodyState(const BodyState& bodyState) {
this->position = bodyState.position;
this->linearMomentum = bodyState.linearMomentum;
this->orientation = bodyState.orientation;
this->angularMomentum = bodyState.angularMomentum;
this->linearVelocity = bodyState.linearVelocity;
this->angularVelocity = bodyState.angularVelocity;
this->spin = bodyState.spin;
this->inertiaTensorInverse = bodyState.inertiaTensorInverse;
this->massInverse = bodyState.massInverse;
}
// Destructor
BodyState::~BodyState() {
}
// Recalculate the secondary values of the BodyState when the primary values have changed
void BodyState::recalculate() {
// TODO : Implement this method
}

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sources/reactphysics3d/body/BodyState.h 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/>. *
***************************************************************************/
#ifndef BODYSTATE_H
#define BODYSTATE_H
// Libraries
#include "../mathematics/mathematics.h"
// Namespace reactphysics3d
namespace reactphysics3d {
/* -------------------------------------------------------------------
Class BodyState :
A BodyState contains all the dynamics values of a body.
-------------------------------------------------------------------
*/
class BodyState {
private :
// Primary values
Vector3D position; // Position of the body
Vector3D linearMomentum; // Linear momentum of the body
Quaternion orientation; // Orientation quaternion of the body
Vector3D angularMomentum; // Angular momentum of the body
// Secondary values
Vector3D linearVelocity; // Linear velocity of the body
Vector3D angularVelocity; // Angular velocity of the body
Quaternion spin; // Spin is the derivative of orientation quaternion over time.
// Constants
Matrix3x3 inertiaTensorInverse; // Inverse of the inertia tensor of the body
double massInverse; // Inverse of the mass of the body
public :
BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, double massInverse); // Constructor
BodyState(const BodyState& bodyState); // Copy-constructor
virtual ~BodyState(); // Destructor
Vector3D getPosition() const; // Return the position of the body
void setPosition(const Vector3D& position); // Set the position of the body
Vector3D getLinearMomentum() const; // Return the linear momemtum
void setLinearMomentum(const Vector3D& linearMomentum); // Set the linear momentum
Quaternion getOrientation() const; // Return the orientation quaternion
void setOrientation(const Quaternion& orientation); // Set the orientation quaternion
Vector3D getAngularMomentum() const; // Return the angular momentum
void setAngularMomentum(const Vector3D& angularMomentum); // Set the angular momentum
Vector3D getAngularVelocity() const; // Return the angular velocity
Quaternion getSpin() const; // Return the spin of the body
void setMassInverse(double massInverse); // Set the inverse of the mass
void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor
void recalculate(); // Recalculate the secondary values of the BodyState
};
// --- Inlines functions --- //
// Return the position of the body
inline Vector3D BodyState::getPosition() const {
return position;
}
// Set the position of the body
inline void BodyState::setPosition(const Vector3D& position) {
this->position = position;
}
// Return the linear momentum of the body
inline Vector3D BodyState::getLinearMomentum() const {
return linearMomentum;
}
// Set the linear momentum of the body
inline void BodyState::setLinearMomentum(const Vector3D& linearMomentum) {
this->linearMomentum = linearMomentum;
}
// Return the orientation quaternion of the body
inline Quaternion BodyState::getOrientation() const {
return orientation;
}
// Set the orientation quaternion
inline void BodyState::setOrientation(const Quaternion& orientation) {
this->orientation = orientation;
}
// Return the angular momentum of the body
inline Vector3D BodyState::getAngularMomentum() const {
return angularMomentum;
}
// Set the angular momentum of the body
inline void BodyState::setAngularMomentum(const Vector3D& angularMomentum) {
this->angularMomentum = angularMomentum;
}
// Return the angular velocity of the body
inline Vector3D BodyState::getAngularVelocity() const {
return angularVelocity;
}
// Return the spin of the body
inline Quaternion BodyState::getSpin() const {
return spin;
}
// Set the inverse of the mass
inline void BodyState::setMassInverse(double massInverse) {
this->massInverse = massInverse;
}
// Set the inverse of the inertia tensor
inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) {
this->inertiaTensorInverse = inertiaTensorInverse;
}
}
#endif

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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/>. *
***************************************************************************/
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
// Libraries
#include "Body.h"
#include "../mathematics/mathematics.h"
// Namespace reactphysics3d
namespace reactphysics3d {
/* -------------------------------------------------------------------
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 {
private :
Matrix3x3 inertiaTensor; // Inertia tensor of the body
BodyState currentBodyState; // Current body state
BodyState previousBodyState; // Previous body state
bool isMotionEnabled; // True if the body can move
bool isCollisionEnabled; // True if the body can collide with others bodies
public :
RigidBody(double mass); // Constructor
RigidBody(const RigidBody& rigidBody); // Copy-constructor
virtual ~RigidBody(); // Destructor
Matrix3x3 getInertiaTensor() const; // Return the inertia tensor of the body
void setInertiaTensor(const Matrix3x3& inertiaTensor); // Set the inertia tensor of the body
BodyState getCurrentState() const; // Return the current state of the body
BodyState getPreviousState() const; // Return the previous state of the body
};
}
#endif