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Add the getInertiaTensorWorld() and getInertiaTensorInverseWorld methods

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@338 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2010-06-19 20:14:43 +00:00
parent 53ed7b1b3a
commit 0f38e643a3
2 changed files with 46 additions and 26 deletions
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8
sources/reactphysics3d/body/RigidBody.cpp
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@ -24,9 +24,9 @@
using namespace reactphysics3d; using namespace reactphysics3d;
// Constructor // Constructor
RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb) RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensorLocal, const OBB& obb)
: Body(mass), inertiaTensor(inertiaTensor), currentBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())), : Body(mass), inertiaTensorLocal(inertiaTensorLocal), currentBodyState(position, orientation, inertiaTensorLocal.getInverse(), Kilogram(1.0/mass.getValue())),
previousBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())), obb(obb) { previousBodyState(position, orientation, inertiaTensorLocal.getInverse(), Kilogram(1.0/mass.getValue())), obb(obb) {
isMotionEnabled = true; isMotionEnabled = true;
isCollisionEnabled = true; isCollisionEnabled = true;
@ -40,7 +40,7 @@
} }
// Copy-constructor // 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) { currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState), obb(rigidBody.obb) {
this->isMotionEnabled = rigidBody.isMotionEnabled; this->isMotionEnabled = rigidBody.isMotionEnabled;
this->isCollisionEnabled = rigidBody.isCollisionEnabled; this->isCollisionEnabled = rigidBody.isCollisionEnabled;

64
sources/reactphysics3d/body/RigidBody.h
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@ -43,7 +43,7 @@ namespace reactphysics3d {
*/ */
class RigidBody : public Body { class RigidBody : public Body {
private : 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 currentBodyState; // Current body state
BodyState previousBodyState; // Previous body state BodyState previousBodyState; // Previous body state
bool isMotionEnabled; // True if the body can move 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 OBB obb; // Oriented bounding box that contains the rigid body
public : public :
RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb); // Constructor RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensorLocal, const OBB& obb); // Constructor
RigidBody(const RigidBody& rigidBody); // Copy-constructor RigidBody(const RigidBody& rigidBody); // Copy-constructor
virtual ~RigidBody(); // Destructor virtual ~RigidBody(); // Destructor
Matrix3x3 getInertiaTensor() const; // Return the inertia tensor of the body Matrix3x3 getInertiaTensorLocal() const; // Return the local inertia tensor of the body (in body coordinates)
void setInertiaTensor(const Matrix3x3& inertiaTensor); // Set the inertia tensor of the body void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal); // Set the local inertia tensor of the body (in body coordinates)
BodyState& getCurrentBodyState(); // Return a reference to the current state of the body Matrix3x3 getInertiaTensorWorld() const; // Return the inertia tensor in world coordinates
BodyState& getPreviousBodyState(); // TODO : DELETE THIS Matrix3x3 getInertiaTensorInverseWorld() const; // Return the inverse of the inertia tensor in world coordinates
void setInterpolationFactor(double factor); // Set the interpolation factor of the body BodyState& getCurrentBodyState(); // Return a reference to the current state of the body
BodyState getInterpolatedState() const; // Compute and return the interpolated state BodyState& getPreviousBodyState(); // TODO : DELETE THIS
bool getIsMotionEnabled() const; // Return if the rigid body can move void setInterpolationFactor(double factor); // Set the interpolation factor of the body
void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move BodyState getInterpolatedState() const; // Compute and return the interpolated state
void setLinearVelocity(const Vector3D& linearVelocity); // Set the linear velocity of the rigid body bool getIsMotionEnabled() const; // Return if the rigid body can move
void updatePreviousBodyState(); // Update the previous body state of the body void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move
const OBB* const getOBB() const; // Return the oriented bounding box of the rigid body void setLinearVelocity(const Vector3D& linearVelocity); // Set the linear velocity of the rigid body
void update(); // Update the rigid body in order to reflect a change in the body state 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 --- // // --- Inline functions --- //
// Return the inertia tensor of the body // Return the local inertia tensor of the body (in body coordinates)
inline Matrix3x3 RigidBody::getInertiaTensor() const { inline Matrix3x3 RigidBody::getInertiaTensorLocal() const {
return inertiaTensor; return inertiaTensorLocal;
} }
// Set the inertia tensor of the body // Set the local inertia tensor of the body (in body coordinates)
inline void RigidBody::setInertiaTensor(const Matrix3x3& inertiaTensor) { inline void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
this->inertiaTensor = inertiaTensor; 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 // Return a reference to the current state of the body