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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@286 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2010-02-23 08:38:49 +00:00
parent 6bc9298b5f
commit a13e762e30
3 changed files with 30 additions and 21 deletions
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6
sources/reactphysics3d/body/BodyState.cpp
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@ -38,7 +38,7 @@ BodyState::BodyState(const BodyState& bodyState)
: position(bodyState.position), linearMomentum(bodyState.linearMomentum), orientation(bodyState.orientation), : position(bodyState.position), linearMomentum(bodyState.linearMomentum), orientation(bodyState.orientation),
angularMomentum(bodyState.angularMomentum), linearVelocity(bodyState.linearVelocity), angularMomentum(bodyState.angularMomentum), linearVelocity(bodyState.linearVelocity),
angularVelocity(bodyState.angularVelocity), spin(bodyState.spin), inertiaTensorInverse(bodyState.inertiaTensorInverse), angularVelocity(bodyState.angularVelocity), spin(bodyState.spin), inertiaTensorInverse(bodyState.inertiaTensorInverse),
massInverse(bodyState.massInverse), force(bodyState.force) { massInverse(bodyState.massInverse), externalForce(bodyState.externalForce) {
} }
// Destructor // Destructor
@ -90,7 +90,7 @@ void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& l
// time (like Runge-Kutta 4 integrator) // time (like Runge-Kutta 4 integrator)
Vector3D BodyState::computeForce(Time time) const { Vector3D BodyState::computeForce(Time time) const {
// TODO : Implement this method (we want that the user of the library could define this method) // 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 // Return the torque on the body at time
@ -98,5 +98,5 @@ Vector3D BodyState::computeForce(Time time) const {
// time (like Runge-Kutta 4 integrator) // time (like Runge-Kutta 4 integrator)
Vector3D BodyState::computeTorque(Time time) const { Vector3D BodyState::computeTorque(Time time) const {
// TODO : Implement this method (we want that the user of the library could define this method) // TODO : Implement this method (we want that the user of the library could define this method)
return torque; return externalTorque;
} }

42
sources/reactphysics3d/body/BodyState.h
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@ -40,8 +40,8 @@ class BodyState {
Vector3D linearMomentum; // Linear momentum of the body Vector3D linearMomentum; // Linear momentum of the body
Quaternion orientation; // Orientation quaternion of the body Quaternion orientation; // Orientation quaternion of the body
Vector3D angularMomentum; // Angular momentum of the body Vector3D angularMomentum; // Angular momentum of the body
Vector3D force; // Current force on the body Vector3D externalForce; // Current external force on the body
Vector3D torque; // Current torque on the body Vector3D externalTorque; // Current external torque on the body
// Secondary values // Secondary values
Vector3D linearVelocity; // Linear velocity of the body Vector3D linearVelocity; // Linear velocity of the body
@ -70,11 +70,12 @@ class BodyState {
Vector3D getAngularVelocity() const; // Return the angular velocity Vector3D getAngularVelocity() const; // Return the angular velocity
Quaternion getSpin() const; // Return the spin of the body Quaternion getSpin() const; // Return the spin of the body
void setMassInverse(Kilogram massInverse); // Set the inverse of the mass 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 void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor
Vector3D getForce() const; // Return the current force of the body Vector3D getExternalForce() const; // Return the current external force of the body
void setForce(const Vector3D& force); // Set the current force on the body void setExternalForce(const Vector3D& force); // Set the current external force on the body
Vector3D getTorque() const; // Return the current torque of the body Vector3D getExternalTorque() const; // Return the current external torque of the body
void setTorque(const Vector3D& torque); // Set the current torque of the body void setExternalTorque(const Vector3D& torque); // Set the current external torque of the body
Kilogram getMassInverse() const; // TODO : Delete this 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
@ -150,29 +151,34 @@ inline void BodyState::setMassInverse(Kilogram massInverse) {
this->massInverse = massInverse; this->massInverse = massInverse;
} }
// Get the inverse of the inertia tensor
Matrix3x3 BodyState::getInertiaTensorInverse() const {
return inertiaTensorInverse;
}
// Set the inverse of the inertia tensor // Set the inverse of the inertia tensor
inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) { inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) {
this->inertiaTensorInverse = inertiaTensorInverse; this->inertiaTensorInverse = inertiaTensorInverse;
} }
// Return the force over the body // Return the external force on the body
inline Vector3D BodyState::getForce() const { inline Vector3D BodyState::getExternalForce() const {
return force; return externalForce;
} }
// Set the force over the body // Set the external force on the body
inline void BodyState::setForce(const Vector3D& force) { inline void BodyState::setExternalForce(const Vector3D& force) {
this->force = force; this->externalForce = force;
} }
// Return the current torque of the body // Return the current external torque on the body
inline Vector3D BodyState::getTorque() const { inline Vector3D BodyState::getExternalTorque() const {
return torque; return externalTorque;
} }
// Set the current torque of the body // Set the current external torque on the body
inline void BodyState::setTorque(const Vector3D& torque) { inline void BodyState::setExternalTorque(const Vector3D& torque) {
this->torque = torque; this->externalTorque = torque;
} }

3
sources/reactphysics3d/body/RigidBody.h
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@ -31,6 +31,9 @@
// Namespace reactphysics3d // Namespace reactphysics3d
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 : Class RigidBody :
This class represents a rigid body of the physics This class represents a rigid body of the physics