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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@78 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-02-09 17:00:18 +00:00
parent 372a4b77d4
commit 464d3cf341
2 changed files with 26 additions and 10 deletions
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8
sources/reactphysics3d/body/Body.cpp
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@ -24,13 +24,13 @@
using namespace reactphysics3d;
// Constructor
Body::Body(Kilogram mass) {
this->mass = mass;
Body::Body(Kilogram mass) : mass(mass) {
}
// Copy-constructor
Body::Body(const Body& body) {
this->mass = body.mass;
Body::Body(const Body& body) : mass(body.mass) {
}
// Destructor

28
sources/reactphysics3d/body/BodyState.cpp
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@ -25,16 +25,23 @@
// Constructor
BodyState::BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse)
: position(position), inertiaTensorInverse(inertiaTensorInverse), massInverse(massInverse) {
: position(position), linearMomentum(Vector3D()), orientation(Quaternion(1,0,0, 0)), angularMomentum(Vector3D()),
linearVelocity(Vector3D()), angularVelocity(Vector3D()), spin(Quaternion()), inertiaTensorInverse(inertiaTensorInverse),
massInverse(massInverse) {
// TODO : orientation will be initialized in another way
// TODO : linearMomentum will be initialized in another way
// TODO : angularMomentum will be initialize in another way
// TODO : linearVelocity will be initialize in another way
// TODO : angularVelocity will be initialize in another way
// TODO : spin will be initialize in another way
}
// Copy-constructor
BodyState::BodyState(const BodyState& bodyState)
: position(bodyState.position), linearMomentum(bodyState.linearMomentum), linearVelocity(bodyState.linearVelocity),
: position(bodyState.position), linearMomentum(bodyState.linearMomentum), orientation(bodyState.orientation),
angularMomentum(bodyState.angularMomentum), linearVelocity(bodyState.linearVelocity),
angularVelocity(bodyState.angularVelocity), spin(bodyState.spin), inertiaTensorInverse(bodyState.inertiaTensorInverse),
massInverse(bodyState.massInverse) {
}
// Destructor
@ -44,6 +51,15 @@ BodyState::~BodyState() {
// Recalculate the secondary values of the BodyState when the primary values have changed
void BodyState::recalculate() {
// TODO : Implement this method
}
// Compute the linear velocity
linearVelocity = linearMomentum * massInverse.getValue();
// Compute the angular velocity
angularVelocity = inertiaTensorInverse * angularMomentum;
// Normalize the orientation quaternion
orientation = orientation.getUnit();
// Compute the spin quaternion
spin = Quaternion(0, angularVelocity.getX(), angularVelocity.getY(), angularVelocity.getZ()) * orientation * 0.5;
}