From a13e762e30a23cc2ec32e309896f7dc28cd4460e Mon Sep 17 00:00:00 2001 From: "chappuis.daniel" Date: Tue, 23 Feb 2010 08:38:49 +0000 Subject: [PATCH] git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@286 92aac97c-a6ce-11dd-a772-7fcde58d38e6 --- sources/reactphysics3d/body/BodyState.cpp | 6 ++-- sources/reactphysics3d/body/BodyState.h | 42 +++++++++++++---------- sources/reactphysics3d/body/RigidBody.h | 3 ++ 3 files changed, 30 insertions(+), 21 deletions(-) diff --git a/sources/reactphysics3d/body/BodyState.cpp b/sources/reactphysics3d/body/BodyState.cpp index 143675ec..e251acee 100644 --- a/sources/reactphysics3d/body/BodyState.cpp +++ b/sources/reactphysics3d/body/BodyState.cpp @@ -38,7 +38,7 @@ BodyState::BodyState(const BodyState& bodyState) : 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), force(bodyState.force) { + massInverse(bodyState.massInverse), externalForce(bodyState.externalForce) { } // Destructor @@ -90,7 +90,7 @@ void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& l // time (like Runge-Kutta 4 integrator) Vector3D BodyState::computeForce(Time time) const { // TODO : Implement this method (we want that the user of the library could define this method) - return force; + return externalForce; } // Return the torque on the body at time @@ -98,5 +98,5 @@ Vector3D BodyState::computeForce(Time time) const { // time (like Runge-Kutta 4 integrator) Vector3D BodyState::computeTorque(Time time) const { // TODO : Implement this method (we want that the user of the library could define this method) - return torque; + return externalTorque; } diff --git a/sources/reactphysics3d/body/BodyState.h b/sources/reactphysics3d/body/BodyState.h index 1efdab3e..acda2d6f 100644 --- a/sources/reactphysics3d/body/BodyState.h +++ b/sources/reactphysics3d/body/BodyState.h @@ -40,8 +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; // Current force on the body - Vector3D torque; // Current torque on the body + Vector3D externalForce; // Current external force on the body + Vector3D externalTorque; // Current external torque on the body // Secondary values Vector3D linearVelocity; // Linear velocity of the body @@ -70,11 +70,12 @@ class BodyState { 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 + Matrix3x3 getInertiaTensorInverse() const; // Get the inverse of the inertia tensor void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor - Vector3D getForce() const; // Return the current force of 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 + Vector3D getExternalForce() const; // Return the current external force of the body + void setExternalForce(const Vector3D& force); // Set the current external force on the body + Vector3D getExternalTorque() const; // Return the current external torque of the body + void setExternalTorque(const Vector3D& torque); // Set the current external torque of the body Kilogram getMassInverse() const; // TODO : Delete this void recalculate(); // Recalculate the secondary values // of the BodyState from the primary ones @@ -150,29 +151,34 @@ inline void BodyState::setMassInverse(Kilogram massInverse) { this->massInverse = massInverse; } +// Get the inverse of the inertia tensor +Matrix3x3 BodyState::getInertiaTensorInverse() const { + return inertiaTensorInverse; +} + // Set the inverse of the inertia tensor inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) { this->inertiaTensorInverse = inertiaTensorInverse; } -// Return the force over the body -inline Vector3D BodyState::getForce() const { - return force; +// Return the external force on the body +inline Vector3D BodyState::getExternalForce() const { + return externalForce; } -// Set the force over the body -inline void BodyState::setForce(const Vector3D& force) { - this->force = force; +// Set the external force on the body +inline void BodyState::setExternalForce(const Vector3D& force) { + this->externalForce = force; } -// Return the current torque of the body -inline Vector3D BodyState::getTorque() const { - return torque; +// Return the current external torque on the body +inline Vector3D BodyState::getExternalTorque() const { + return externalTorque; } - // Set the current torque of the body -inline void BodyState::setTorque(const Vector3D& torque) { - this->torque = torque; + // Set the current external torque on the body +inline void BodyState::setExternalTorque(const Vector3D& torque) { + this->externalTorque = torque; } diff --git a/sources/reactphysics3d/body/RigidBody.h b/sources/reactphysics3d/body/RigidBody.h index 0e8493a5..f435ee22 100644 --- a/sources/reactphysics3d/body/RigidBody.h +++ b/sources/reactphysics3d/body/RigidBody.h @@ -31,6 +31,9 @@ // Namespace reactphysics3d namespace reactphysics3d { +// TODO : Check if it is possible to put all the attributes from BodyState class in the RigidBody class (to do this, the +// class RungeKutta have to be changed a lot + /* ------------------------------------------------------------------- Class RigidBody : This class represents a rigid body of the physics