From 0f38e643a3a8b509410c6d11fdfe453c2a1c99a8 Mon Sep 17 00:00:00 2001 From: "chappuis.daniel" Date: Sat, 19 Jun 2010 20:14:43 +0000 Subject: [PATCH] Add the getInertiaTensorWorld() and getInertiaTensorInverseWorld methods git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@338 92aac97c-a6ce-11dd-a772-7fcde58d38e6 --- sources/reactphysics3d/body/RigidBody.cpp | 8 +-- sources/reactphysics3d/body/RigidBody.h | 64 +++++++++++++++-------- 2 files changed, 46 insertions(+), 26 deletions(-) diff --git a/sources/reactphysics3d/body/RigidBody.cpp b/sources/reactphysics3d/body/RigidBody.cpp index 01db1ee4..1823edbd 100644 --- a/sources/reactphysics3d/body/RigidBody.cpp +++ b/sources/reactphysics3d/body/RigidBody.cpp @@ -24,9 +24,9 @@ using namespace reactphysics3d; // Constructor - RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb) - : Body(mass), inertiaTensor(inertiaTensor), currentBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())), - previousBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())), obb(obb) { + RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensorLocal, const OBB& obb) + : Body(mass), inertiaTensorLocal(inertiaTensorLocal), currentBodyState(position, orientation, inertiaTensorLocal.getInverse(), Kilogram(1.0/mass.getValue())), + previousBodyState(position, orientation, inertiaTensorLocal.getInverse(), Kilogram(1.0/mass.getValue())), obb(obb) { isMotionEnabled = true; isCollisionEnabled = true; @@ -40,7 +40,7 @@ } // Copy-constructor - RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensor(rigidBody.inertiaTensor), + RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensorLocal(rigidBody.inertiaTensorLocal), currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState), obb(rigidBody.obb) { this->isMotionEnabled = rigidBody.isMotionEnabled; this->isCollisionEnabled = rigidBody.isCollisionEnabled; diff --git a/sources/reactphysics3d/body/RigidBody.h b/sources/reactphysics3d/body/RigidBody.h index 7e3d07f7..6a4172eb 100644 --- a/sources/reactphysics3d/body/RigidBody.h +++ b/sources/reactphysics3d/body/RigidBody.h @@ -43,7 +43,7 @@ namespace reactphysics3d { */ class RigidBody : public Body { private : - Matrix3x3 inertiaTensor; // Inertia tensor of the body + Matrix3x3 inertiaTensorLocal; // Local inertia tensor of the body (in body coordinates) BodyState currentBodyState; // Current body state BodyState previousBodyState; // Previous body state bool isMotionEnabled; // True if the body can move @@ -52,34 +52,54 @@ class RigidBody : public Body { OBB obb; // Oriented bounding box that contains the rigid body public : - RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb); // Constructor - RigidBody(const RigidBody& rigidBody); // Copy-constructor - virtual ~RigidBody(); // Destructor + RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensorLocal, const OBB& obb); // 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& getCurrentBodyState(); // Return a reference to the current state of the body - BodyState& getPreviousBodyState(); // TODO : DELETE THIS - void setInterpolationFactor(double factor); // Set the interpolation factor of the body - BodyState getInterpolatedState() const; // Compute and return the interpolated state - bool getIsMotionEnabled() const; // Return if the rigid body can move - void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move - void setLinearVelocity(const Vector3D& linearVelocity); // Set the linear velocity of the rigid body - void updatePreviousBodyState(); // Update the previous body state of the body - const OBB* const getOBB() const; // Return the oriented bounding box of the rigid body - void update(); // Update the rigid body in order to reflect a change in the body state + Matrix3x3 getInertiaTensorLocal() const; // Return the local inertia tensor of the body (in body coordinates) + void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal); // Set the local inertia tensor of the body (in body coordinates) + Matrix3x3 getInertiaTensorWorld() const; // Return the inertia tensor in world coordinates + Matrix3x3 getInertiaTensorInverseWorld() const; // Return the inverse of the inertia tensor in world coordinates + BodyState& getCurrentBodyState(); // Return a reference to the current state of the body + BodyState& getPreviousBodyState(); // TODO : DELETE THIS + void setInterpolationFactor(double factor); // Set the interpolation factor of the body + BodyState getInterpolatedState() const; // Compute and return the interpolated state + bool getIsMotionEnabled() const; // Return if the rigid body can move + void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move + void setLinearVelocity(const Vector3D& linearVelocity); // Set the linear velocity of the rigid body + void updatePreviousBodyState(); // Update the previous body state of the body + const OBB* const getOBB() const; // Return the oriented bounding box of the rigid body + void update(); // Update the rigid body in order to reflect a change in the body state }; // --- Inline functions --- // -// Return the inertia tensor of the body -inline Matrix3x3 RigidBody::getInertiaTensor() const { - return inertiaTensor; +// Return the local inertia tensor of the body (in body coordinates) +inline Matrix3x3 RigidBody::getInertiaTensorLocal() const { + return inertiaTensorLocal; } -// Set the inertia tensor of the body -inline void RigidBody::setInertiaTensor(const Matrix3x3& inertiaTensor) { - this->inertiaTensor = inertiaTensor; +// Set the local inertia tensor of the body (in body coordinates) +inline void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { + this->inertiaTensorLocal = inertiaTensorLocal; +} + +// Return the inertia tensor in world coordinates +// The inertia tensor I_w in world coordinates in computed with the local inertia tensor I_b in body coordinates +// by I_w = R * I_b * R^T +// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body +inline Matrix3x3 RigidBody::getInertiaTensorWorld() const { + // Compute and return the inertia tensor in world coordinates + return currentBodyState.getOrientation().getMatrix() * inertiaTensorLocal * currentBodyState.getOrientation().getMatrix().getTranspose(); +} + +// Return the inverse of the inertia tensor in world coordinates +// The inertia tensor I_w in world coordinates in computed with the local inverse inertia tensor I_b^-1 in body coordinates +// by I_w = R * I_b^-1 * R^T +// where R is the rotation matrix (and R^T its transpose) of the current orientation quaternion of the body +inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { + // Compute and return the inertia tensor in world coordinates + return currentBodyState.getOrientation().getMatrix() * currentBodyState.getInertiaTensorInverse() * currentBodyState.getOrientation().getMatrix().getTranspose(); } // Return a reference to the current state of the body