git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@214 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/body/BodyState.cpp

@@ -31,7 +31,7 @@
 
     // Recalculate the secondary values from the primary values
     recalculate();
- }
+}
 
 // Copy-constructor
 BodyState::BodyState(const BodyState& bodyState)
@@ -48,6 +48,7 @@ BodyState::~BodyState() {
 
 // Recalculate the secondary values of the BodyState when the primary values have changed
 void BodyState::recalculate() {
+
     // Compute the linear velocity
     linearVelocity = linearMomentum * massInverse.getValue();
 
@@ -62,6 +63,8 @@ void BodyState::recalculate() {
 }
 
 // Compute the body state at time t + dt
+// This method is used with integration methods that need to compute the state at a future
+// time (like Runge-Kutta 4 integrator)
 void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState) {
 
     double dt = timeStep.getValue();        // Timestep
@@ -83,13 +86,17 @@ void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& l
 }
 
 // Return the force on the body at time t
+// This method is used with integration methods that need to compute the state at a future
+// time (like Runge-Kutta 4 integrator)
 Vector3D BodyState::computeForce(Time time) const {
-    // TODO : Implement this method
+    // TODO : Implement this method (we want that the user of the library could define this method)
-    return force * (1.0 / massInverse.getValue());
+    return force;
 }
 
 // Return the torque on the body at time
+// This method is used with integration methods that need to compute the state at a future
+// time (like Runge-Kutta 4 integrator)
 Vector3D BodyState::computeTorque(Time time) const {
-    // TODO : Implement this method
+    // TODO : Implement this method (we want that the user of the library could define this method)
-    return Vector3D(0.0, 0.0 ,0.0);
+    return torque;
 }

sources/reactphysics3d/body/BodyState.h

@@ -40,7 +40,8 @@ class BodyState {
         Vector3D linearMomentum;                // Linear momentum of the body
         Quaternion orientation;                 // Orientation quaternion of the body
         Vector3D angularMomentum;               // Angular momentum of the body
-        Vector3D force;                         // force on the body
+        Vector3D force;                         // Current force on the body
+        Vector3D torque;                        // Current torque on the body
 
         // Secondary values
         Vector3D linearVelocity;                // Linear velocity of the body
@@ -65,12 +66,15 @@ class BodyState {
         Vector3D getAngularMomentum() const;                                    // Return the angular momentum
         void setAngularMomentum(const Vector3D& angularMomentum);               // Set the angular momentum
         Vector3D getLinearVelocity() const;                                     // Return the linear velocity
+        void setLinearVelocity(const Vector3D& linearVelocity);                 // TODO : Delete this
         Vector3D getAngularVelocity() const;                                    // Return the angular velocity
         Quaternion getSpin() const;                                             // Return the spin of the body
         void setMassInverse(Kilogram massInverse);                              // Set the inverse of the mass
         void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse);    // Set the inverse of the inertia tensor
-        Vector3D getForce() const;                                              // Return the force over the body
+        Vector3D getForce() const;                                              // Return the current force of the body
-        void setForce(const Vector3D force);                                    // Set the force over the body
+        void setForce(const Vector3D& force);                                   // Set the current force on the body
+        Vector3D getTorque() const;                                             // Return the current torque of the body
+        void setTorque(const Vector3D& torque);                                 // Set the current torque of the body
         Kilogram getMassInverse() const;                                        // TODO : Delete this
         void recalculate();                                                                 // Recalculate the secondary values
                                                                                             // of the BodyState from the primary ones
@@ -127,6 +131,10 @@ inline Vector3D BodyState::getLinearVelocity() const {
     return linearVelocity;
 }
 
+inline void BodyState::setLinearVelocity(const Vector3D& linearVelocity) {
+    this->linearVelocity = linearVelocity;
+}
+
 // Return the angular velocity of the body
 inline Vector3D BodyState::getAngularVelocity() const {
     return angularVelocity;
@@ -153,10 +161,21 @@ inline Vector3D BodyState::getForce() const {
 }
 
 // Set the force over the body
-inline void BodyState::setForce(const Vector3D force) {
+inline void BodyState::setForce(const Vector3D& force) {
-    this->force = force;
+    this->force;
 }
 
+// Return the current torque of the body
+inline Vector3D BodyState::getTorque() const {
+    return torque;
+}
+
+ // Set the current torque of the body
+inline void BodyState::setTorque(const Vector3D& torque) {
+    this->torque = torque;
+}
+
+
 // TODO : Delete this
 inline Kilogram BodyState::getMassInverse() const {
     return massInverse;