git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@101 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel
parent
7afb8ba7f0
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "BodyState.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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BodyState::BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse)
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: position(position), linearMomentum(Vector3D()), orientation(Quaternion(1,0,0, 0)), angularMomentum(Vector3D()),
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linearVelocity(Vector3D()), angularVelocity(Vector3D()), spin(Quaternion()), inertiaTensorInverse(inertiaTensorInverse),
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massInverse(massInverse) {
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// TODO : orientation will be initialized in another way
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// TODO : linearMomentum will be initialized in another way
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// TODO : angularMomentum will be initialize in another way
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// TODO : linearVelocity will be initialize in another way
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// TODO : angularVelocity will be initialize in another way
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// TODO : spin will be initialize in another way
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}
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// Copy-constructor
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BodyState::BodyState(const BodyState& bodyState)
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: position(bodyState.position), linearMomentum(bodyState.linearMomentum), orientation(bodyState.orientation),
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angularMomentum(bodyState.angularMomentum), linearVelocity(bodyState.linearVelocity),
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angularVelocity(bodyState.angularVelocity), spin(bodyState.spin), inertiaTensorInverse(bodyState.inertiaTensorInverse),
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massInverse(bodyState.massInverse) {
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}
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// Destructor
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BodyState::~BodyState() {
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}
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// Recalculate the secondary values of the BodyState when the primary values have changed
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void BodyState::recalculate() {
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// Compute the linear velocity
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linearVelocity = linearMomentum * massInverse.getValue();
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// Compute the angular velocity
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angularVelocity = inertiaTensorInverse * angularMomentum;
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// Normalize the orientation quaternion
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orientation = orientation.getUnit();
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// Compute the spin quaternion
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spin = Quaternion(0, angularVelocity.getX(), angularVelocity.getY(), angularVelocity.getZ()) * orientation * 0.5;
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}
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// Compute the body state at time t + dt
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void computeAtTime(const Time& time, const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState) {
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double t = time.getValue(); // Current time
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double dt = timeStep.getValue(); // Timestep
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// Compute the position at time t + dt
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position = position + lastDerivativeBodyState.getLinearVelocity() * dt;
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// Compute the linear momentum at time t + dt
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linearMomentum = linearMomentum + lastDerivativeBodyState.force * dt;
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// Compute the orientation at time t + dt
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orientation = orientation + lastDerivativeBodyState.getSpin() * dt;
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// Compute the angular momentum at time t + dt
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angularMomentum = angularMomentum + lastDerivativeBodyState.torque * dt;
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// Recalculate the secondary values of the body state
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recalculate();
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}
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// Overloaded operator for the multiplication with a number
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BodyState BodyState::operator*(double number) const {
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// TODO : Implement this method
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}
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifndef BODYSTATE_H
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#define BODYSTATE_H
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// Libraries
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#include "../mathematics/mathematics.h"
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#include "../physics/physics.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class BodyState :
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A BodyState contains all the dynamics values of a body.
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-------------------------------------------------------------------
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*/
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class BodyState {
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private :
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// Primary values
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Vector3D position; // Position of the body
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Vector3D linearMomentum; // Linear momentum of the body
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Quaternion orientation; // Orientation quaternion of the body
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Vector3D angularMomentum; // Angular momentum of the body
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// Secondary values
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Vector3D linearVelocity; // Linear velocity of the body
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Vector3D angularVelocity; // Angular velocity of the body
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Quaternion spin; // Spin is the derivative of orientation quaternion over time.
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// Constants
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Matrix3x3 inertiaTensorInverse; // Inverse of the inertia tensor of the body
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Kilogram massInverse; // Inverse of the mass of the body
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public :
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BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse); // Constructor
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BodyState(const BodyState& bodyState); // Copy-constructor
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virtual ~BodyState(); // Destructor
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Vector3D getPosition() const; // Return the position of the body
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void setPosition(const Vector3D& position); // Set the position of the body
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Vector3D getLinearMomentum() const; // Return the linear momemtum
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void setLinearMomentum(const Vector3D& linearMomentum); // Set the linear momentum
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Quaternion getOrientation() const; // Return the orientation quaternion
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void setOrientation(const Quaternion& orientation); // Set the orientation quaternion
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Vector3D getAngularMomentum() const; // Return the angular momentum
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void setAngularMomentum(const Vector3D& angularMomentum); // Set the angular momentum
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Vector3D getAngularVelocity() const; // Return the angular velocity
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Quaternion getSpin() const; // Return the spin of the body
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void setMassInverse(Kilogram massInverse); // Set the inverse of the mass
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void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor
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void recalculate(); // Recalculate the secondary values
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// of the BodyState from the primary ones
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void computeAtTime(const Time& time, const Time& timeStep,
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const DerivativeBodyState& lastDerivativeBodyState); // Compute the body state at time t + dt
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// Overloaded operators
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BodyState operator*(double number) const; // Overloaded operator for the multiplication with a number
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};
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// --- Inlines functions --- //
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// Return the position of the body
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inline Vector3D BodyState::getPosition() const {
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return position;
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}
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// Set the position of the body
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inline void BodyState::setPosition(const Vector3D& position) {
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this->position = position;
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}
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// Return the linear momentum of the body
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inline Vector3D BodyState::getLinearMomentum() const {
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return linearMomentum;
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}
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// Set the linear momentum of the body
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inline void BodyState::setLinearMomentum(const Vector3D& linearMomentum) {
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this->linearMomentum = linearMomentum;
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}
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// Return the orientation quaternion of the body
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inline Quaternion BodyState::getOrientation() const {
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return orientation;
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}
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// Set the orientation quaternion
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inline void BodyState::setOrientation(const Quaternion& orientation) {
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this->orientation = orientation;
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}
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// Return the angular momentum of the body
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inline Vector3D BodyState::getAngularMomentum() const {
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return angularMomentum;
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}
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// Set the angular momentum of the body
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inline void BodyState::setAngularMomentum(const Vector3D& angularMomentum) {
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this->angularMomentum = angularMomentum;
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}
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// Return the angular velocity of the body
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inline Vector3D BodyState::getAngularVelocity() const {
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return angularVelocity;
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}
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// Return the spin of the body
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inline Quaternion BodyState::getSpin() const {
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return spin;
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}
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// Set the inverse of the mass
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inline void BodyState::setMassInverse(Kilogram massInverse) {
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this->massInverse = massInverse;
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}
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// Set the inverse of the inertia tensor
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inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) {
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this->inertiaTensorInverse = inertiaTensorInverse;
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}
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}
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#endif
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
|
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* *
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* You should have received a copy of the GNU General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "RigidBody.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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RigidBody::RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor)
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: Body(mass), inertiaTensor(inertiaTensor),
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currentBodyState(position, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
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previousBodyState(position, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
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isMotionEnabled = true;
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isCollisionEnabled = true;
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}
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// Copy-constructor
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RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensor(rigidBody.inertiaTensor),
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currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState) {
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this->isMotionEnabled = rigidBody.isMotionEnabled;
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this->isCollisionEnabled = rigidBody.isCollisionEnabled;
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}
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// Destructor
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RigidBody::~RigidBody() {
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};
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// Return the force on the body at time t
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Vector3D RigidBody::computeForce(Time time) const {
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// TODO : Implement this method
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return Vector3D(1*time.getValue(),0,0);
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}
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// Return the torque on the body at time
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Vector3D RigidBody::computeTorque(Time time) const {
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// TODO : Implement this method
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return Vector3D(1*time.getValue(),0,0);
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}
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
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||||||
* it under the terms of the GNU General Public License as published by *
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or *
|
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* (at your option) any later version. *
|
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* *
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||||||
* 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/>. *
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***************************************************************************/
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#ifndef RIGIDBODY_H
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#define RIGIDBODY_H
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// Libraries
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#include "Body.h"
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#include "BodyState.h"
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#include "../mathematics/mathematics.h"
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#include "../physics/physics.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class RigidBody :
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This class represents a rigid body of the physics
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engine. A rigid body is a non-deformable body that
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has a constant mass.
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-------------------------------------------------------------------
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*/
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class RigidBody : public Body {
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private :
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Matrix3x3 inertiaTensor; // Inertia tensor of the body
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BodyState currentBodyState; // Current body state
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BodyState previousBodyState; // Previous body state
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bool isMotionEnabled; // True if the body can move
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bool isCollisionEnabled; // True if the body can collide with others bodies
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public :
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RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor); // Constructor
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RigidBody(const RigidBody& rigidBody); // Copy-constructor
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virtual ~RigidBody(); // Destructor
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Matrix3x3 getInertiaTensor() const; // Return the inertia tensor of the body
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void setInertiaTensor(const Matrix3x3& inertiaTensor); // Set the inertia tensor of the body
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BodyState getCurrentBodyState() const; // Return the current state of the body
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BodyState getPreviousBodyState() const; // Return the previous state of the body
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Vector3D computeForce(Time time) const; // Return the force on the body at time t
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Vector3D computeTorque(Time time) const; // Return the torque on the body at time t
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};
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// --- Inline functions --- //
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// Return the inertia tensor of the body
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inline Matrix3x3 RigidBody::getInertiaTensor() const {
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return inertiaTensor;
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}
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// Set the inertia tensor of the body
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inline void RigidBody::setInertiaTensor(const Matrix3x3& inertiaTensor) {
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this->inertiaTensor = inertiaTensor;
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}
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// Return the current state of the body
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inline BodyState RigidBody::getCurrentBodyState() const {
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return currentBodyState;
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}
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// Return the previous state of the body
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inline BodyState RigidBody::getPreviousBodyState() const {
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return previousBodyState;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
Loading…
Reference in New Issue
Block a user