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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@176 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-07-21 20:29:03 +00:00
parent 7ed1e2c241
commit 83d82b7699
8 changed files with 169 additions and 32 deletions
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4
sources/reactphysics3d/body/Body.h
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@ -42,14 +42,14 @@ class Body {
Body(const Body& body); // Copy-constructor Body(const Body& body); // Copy-constructor
virtual ~Body(); // Destructor virtual ~Body(); // Destructor
Kilogram getMass(); // Return the mass of the body Kilogram getMass() const; // Return the mass of the body
void setMass(Kilogram mass); // Set the mass of the body void setMass(Kilogram mass); // Set the mass of the body
}; };
// --- Inlines function --- // // --- Inlines function --- //
// Method that return the mass of the body // Method that return the mass of the body
inline Kilogram Body::getMass() { inline Kilogram Body::getMass() const {
return mass; return mass;
}; };

2
sources/reactphysics3d/body/BodyState.cpp
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@ -86,7 +86,7 @@ void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& l
// Return the force on the body at time t // Return the force on the body at time t
Vector3D BodyState::computeForce(Time time) const { Vector3D BodyState::computeForce(Time time) const {
// TODO : Implement this method // TODO : Implement this method
return force + Vector3D(0.0, 0.0, 0.0); return force * (1.0 / massInverse.getValue());
} }
// Return the torque on the body at time // Return the torque on the body at time

6
sources/reactphysics3d/body/BodyState.h
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@ -71,7 +71,7 @@ class BodyState {
void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor 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 force over the body
void setForce(const Vector3D force); // Set the force over the body void setForce(const Vector3D force); // Set the force over the body
Kilogram getMassInverse() const; // TODO : Delete this
void recalculate(); // Recalculate the secondary values void recalculate(); // Recalculate the secondary values
// of the BodyState from the primary ones // of the BodyState from the primary ones
void computeAtTime(const Time& timeStep, void computeAtTime(const Time& timeStep,
@ -155,7 +155,11 @@ inline Vector3D BodyState::getForce() const {
// Set the force over the body // 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 = force;
}
// TODO : Delete this
inline Kilogram BodyState::getMassInverse() const {
return massInverse;
} }
} // End of the ReactPhysics3D namespace } // End of the ReactPhysics3D namespace

26
sources/reactphysics3d/body/BoundingVolume.h
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@ -20,6 +20,10 @@
#ifndef BOUNDING_VOLUME_H #ifndef BOUNDING_VOLUME_H
#define BOUNDING_VOLUME_H #define BOUNDING_VOLUME_H
// Libraries
#include "../mathematics/mathematics.h"
#include "Body.h"
// ReactPhysics3D namespace // ReactPhysics3D namespace
namespace reactphysics3d { namespace reactphysics3d {
@ -32,12 +36,30 @@ namespace reactphysics3d {
*/ */
class BoundingVolume { class BoundingVolume {
private : private :
Body* body; // Pointer to the body
public : public :
BoundingVolume(); // Constructor BoundingVolume(); // Constructor
virtual ~BoundingVolume(); // Destructor virtual ~BoundingVolume(); // Destructor
Body* getBodyPointer() const; // Return the body pointer
void setBodyPointer(Body* body); // Set the body pointer
virtual void updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion)=0; // Update the orientation of the bounding volume according to the new orientation of the body
virtual void draw() const =0; // Display the bounding volume (only for testing purpose)
}; };
// Return the body pointer
inline Body* BoundingVolume::getBodyPointer() const {
return body;
}
// Set the body pointer
inline void BoundingVolume::setBodyPointer(Body* body) {
this->body = body;
}
} // End of the ReactPhysics3D namespace } // End of the ReactPhysics3D namespace
#endif #endif

74
sources/reactphysics3d/body/OBB.cpp
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@ -20,6 +20,9 @@
// Libraries // Libraries
#include "OBB.h" #include "OBB.h"
#include <GL/freeglut.h> // TODO : Remove this in the final version
#include <GL/gl.h> // TODO : Remove this in the final version
// We want to use the ReactPhysics3D namespace // We want to use the ReactPhysics3D namespace
using namespace reactphysics3d; using namespace reactphysics3d;
@ -28,6 +31,10 @@ OBB::OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
const Vector3D& axis3, double extent1, double extent2, double extent3) { const Vector3D& axis3, double extent1, double extent2, double extent3) {
this->center = center; this->center = center;
oldAxis[0] = axis1;
oldAxis[1] = axis2;
oldAxis[2] = axis3;
this->axis[0] = axis1; this->axis[0] = axis1;
this->axis[1] = axis2; this->axis[1] = axis2;
this->axis[2] = axis3; this->axis[2] = axis3;
@ -41,6 +48,10 @@ OBB::OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
OBB::OBB(const OBB& obb) { OBB::OBB(const OBB& obb) {
this->center = obb.center; this->center = obb.center;
oldAxis[0] = obb.oldAxis[0];
oldAxis[1] = obb.oldAxis[1];
oldAxis[2] = obb.oldAxis[2];
this->axis[0] = obb.axis[0]; this->axis[0] = obb.axis[0];
this->axis[1] = obb.axis[1]; this->axis[1] = obb.axis[1];
this->axis[2] = obb.axis[2]; this->axis[2] = obb.axis[2];
@ -54,3 +65,66 @@ OBB::OBB(const OBB& obb) {
OBB::~OBB() { OBB::~OBB() {
} }
// TODO : Remove this method in the final version
// Draw the OBB (only for testing purpose)
void OBB::draw() const {
double e0 = extent[0];
double e1 = extent[1];
double e2 = extent[2];
Vector3D s1 = center + (axis[0]*e0) + (axis[1]*e1) - (axis[2]*e2);
Vector3D s2 = center + (axis[0]*e0) + (axis[1]*e1) + (axis[2]*e2);
Vector3D s3 = center - (axis[0]*e0) + (axis[1]*e1) + (axis[2]*e2);
Vector3D s4 = center - (axis[0]*e0) + (axis[1]*e1) - (axis[2]*e2);
Vector3D s5 = center + (axis[0]*e0) - (axis[1]*e1) - (axis[2]*e2);
Vector3D s6 = center + (axis[0]*e0) - (axis[1]*e1) + (axis[2]*e2);
Vector3D s7 = center - (axis[0]*e0) - (axis[1]*e1) + (axis[2]*e2);
Vector3D s8 = center - (axis[0]*e0) - (axis[1]*e1) - (axis[2]*e2);
// Draw in red
glColor3f(1.0, 0.0, 0.0);
// Draw the OBB
glBegin(GL_LINES);
glVertex3f(s1.getX(), s1.getY(), s1.getZ());
glVertex3f(s2.getX(), s2.getY(), s2.getZ());
glVertex3f(s2.getX(), s2.getY(), s2.getZ());
glVertex3f(s3.getX(), s3.getY(), s3.getZ());
glVertex3f(s3.getX(), s3.getY(), s3.getZ());
glVertex3f(s4.getX(), s4.getY(), s4.getZ());
glVertex3f(s4.getX(), s4.getY(), s4.getZ());
glVertex3f(s1.getX(), s1.getY(), s1.getZ());
glVertex3f(s5.getX(), s5.getY(), s5.getZ());
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
glVertex3f(s7.getX(), s7.getY(), s7.getZ());
glVertex3f(s7.getX(), s7.getY(), s7.getZ());
glVertex3f(s8.getX(), s8.getY(), s8.getZ());
glVertex3f(s8.getX(), s8.getY(), s8.getZ());
glVertex3f(s5.getX(), s5.getY(), s5.getZ());
glVertex3f(s1.getX(), s1.getY(), s1.getZ());
glVertex3f(s5.getX(), s5.getY(), s5.getZ());
glVertex3f(s4.getX(), s4.getY(), s4.getZ());
glVertex3f(s8.getX(), s8.getY(), s8.getZ());
glVertex3f(s3.getX(), s3.getY(), s3.getZ());
glVertex3f(s7.getX(), s7.getY(), s7.getZ());
glVertex3f(s2.getX(), s2.getY(), s2.getZ());
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
glVertex3f(center.getX(), center.getY(), center.getZ());
glVertex3f(center.getX() + 8.0 * axis[1].getX(), center.getY() + 8.0 * axis[1].getY(), center.getZ() + 8.0 * axis[1].getZ());
glEnd();
}

41
sources/reactphysics3d/body/OBB.h
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@ -30,27 +30,34 @@ namespace reactphysics3d {
/* ------------------------------------------------------------------- /* -------------------------------------------------------------------
Class OBB : Class OBB :
This class represents a bounding volume of type "Oriented Bounding This class represents a bounding volume of type "Oriented Bounding
Box". It's a box that has a given orientation is space. Box". It's a box that has a given orientation is space. The three
axis of the OBB are three axis that give the orientation of the
OBB. The three axis are normal vectors to the faces of the OBB.
Those axis are unit length. The three extents are half-widths
of the box along the three axis of the OBB.
------------------------------------------------------------------- -------------------------------------------------------------------
*/ */
class OBB : public BoundingVolume { class OBB : public BoundingVolume {
private : private :
Vector3D center; // Center point of the OBB Vector3D center; // Center point of the OBB
Vector3D axis[3]; // Array that contains the three axis of the OBB Vector3D oldAxis[3]; // Array that contains the three unit length axis at the beginning
Vector3D axis[3]; // Array that contains the three unit length axis of the OBB
double extent[3]; // Array that contains the three extents size of the OBB double extent[3]; // Array that contains the three extents size of the OBB
public : public :
OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2, OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
const Vector3D& axis3, double extent1, double extent2, double extent3); // Constructor const Vector3D& axis3, double extent1, double extent2, double extent3); // Constructor
OBB(const OBB& obb); // Copy-Constructor OBB(const OBB& obb); // Copy-Constructor
virtual ~OBB(); // Destructor virtual ~OBB(); // Destructor
Vector3D getCenter() const; // Return the center point of the OBB Vector3D getCenter() const; // Return the center point of the OBB
void setCenter(const Vector3D& center); // Set the center point void setCenter(const Vector3D& center); // Set the center point
Vector3D getAxis(unsigned int index) const throw(std::invalid_argument); // Return an axis of the OBB Vector3D getAxis(unsigned int index) const throw(std::invalid_argument); // Return an axis of the OBB
void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis
double getExtent(unsigned int index) const throw(std::invalid_argument); // Return an extent value double getExtent(unsigned int index) const throw(std::invalid_argument); // Return an extent value
void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value
virtual void updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion); // Update the orientation of the OBB according to the orientation of the rigid body // Update the oriented bounding box orientation according to a new orientation of the rigid body
virtual void draw() const; // Draw the OBB (only for testing purpose)
}; };
// TODO : Don't forget that we need to code a way that a change in the orientation of a rigid body imply // TODO : Don't forget that we need to code a way that a change in the orientation of a rigid body imply
@ -114,6 +121,18 @@ inline void OBB::setExtent(unsigned int index, double extent) throw(std::invalid
} }
} }
// TODO : Test this method
// Update the orientation of the OBB according to the orientation of the rigid body
inline void OBB::updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion) {
// Update the center of the OBB
center = newCenter;
// Update the three axis of the OBB by rotating and normalize then
axis[0] = rotateVectorWithQuaternion(oldAxis[0], rotationQuaternion).getUnit();
axis[1] = rotateVectorWithQuaternion(oldAxis[1], rotationQuaternion).getUnit();
axis[2] = rotateVectorWithQuaternion(oldAxis[2], rotationQuaternion).getUnit();
}
}; // End of the ReactPhysics3D namespace }; // End of the ReactPhysics3D namespace

9
sources/reactphysics3d/body/RigidBody.cpp
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@ -24,18 +24,21 @@
using namespace reactphysics3d; using namespace reactphysics3d;
// Constructor // Constructor
RigidBody::RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor) RigidBody::RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
: Body(mass), inertiaTensor(inertiaTensor), : Body(mass), inertiaTensor(inertiaTensor), obb(obb),
currentBodyState(position, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())), currentBodyState(position, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
previousBodyState(position, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) { previousBodyState(position, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
isMotionEnabled = true; isMotionEnabled = true;
isCollisionEnabled = true; isCollisionEnabled = true;
interpolationFactor = 0.0; interpolationFactor = 0.0;
// Set the body pointer to the OBB
this->obb.setBodyPointer(this);
} }
// Copy-constructor // Copy-constructor
RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensor(rigidBody.inertiaTensor), RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensor(rigidBody.inertiaTensor),
currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState) { 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;
interpolationFactor = rigidBody.interpolationFactor; interpolationFactor = rigidBody.interpolationFactor;

39
sources/reactphysics3d/body/RigidBody.h
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@ -1,4 +1,4 @@
/**************************************************************************** /***************************************************************************
* Copyright (C) 2009 Daniel Chappuis * * Copyright (C) 2009 Daniel Chappuis *
**************************************************************************** ****************************************************************************
* This file is part of ReactPhysics3D. * * This file is part of ReactPhysics3D. *
@ -24,6 +24,7 @@
#include <cassert> #include <cassert>
#include "Body.h" #include "Body.h"
#include "BodyState.h" #include "BodyState.h"
#include "OBB.h"
#include "../mathematics/mathematics.h" #include "../mathematics/mathematics.h"
#include "../physics/physics.h" #include "../physics/physics.h"
@ -45,20 +46,23 @@ class RigidBody : public Body {
bool isMotionEnabled; // True if the body can move bool isMotionEnabled; // True if the body can move
bool isCollisionEnabled; // True if the body can collide with others bodies bool isCollisionEnabled; // True if the body can collide with others bodies
double interpolationFactor; // Interpolation factor used for the state interpolation double interpolationFactor; // Interpolation factor used for the state interpolation
OBB obb; // Oriented bounding box that contains the rigid body
public : public :
RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor); // Constructor RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, 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 getInertiaTensor() const; // Return the inertia tensor of the body
void setInertiaTensor(const Matrix3x3& inertiaTensor); // Set 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& getCurrentBodyState(); // Return a reference to the current state of the body
void setInterpolationFactor(double factor); // Set the interpolation factor of the body void setInterpolationFactor(double factor); // Set the interpolation factor of the body
BodyState getInterpolatedState() const; // Compute and return the interpolated state BodyState getInterpolatedState() const; // Compute and return the interpolated state
bool getIsMotionEnabled() const; // Return if the rigid body can move 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 setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move
void updatePreviousBodyState(); // Update the previous body state of the body void updatePreviousBodyState(); // Update the previous body state of the body
OBB 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 --- //
@ -103,6 +107,17 @@ inline void RigidBody::updatePreviousBodyState() {
previousBodyState = currentBodyState; previousBodyState = currentBodyState;
} }
// Return the oriented bounding box of the rigid body
inline OBB RigidBody::getOBB() const {
return obb;
}
// Update the rigid body in order to reflect a change in the body state
inline void RigidBody::update() {
// Update the orientation of the corresponding bounding volume of the rigid body
obb.updateOrientation(currentBodyState.getPosition(), currentBodyState.getOrientation());
}
} // End of the ReactPhyscis3D namespace } // End of the ReactPhyscis3D namespace
#endif #endif