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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@104 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-02-13 15:42:55 +00:00
parent bf9fdbe7d3
commit b37bd4c919
1 changed files with 4 additions and 5 deletions
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9
sources/reactphysics3d/body/BodyState.cpp
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@ -27,7 +27,7 @@
// Constructor
BodyState::BodyState(const Vector3D& position, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse)
: position(position), linearMomentum(Vector3D()), orientation(Quaternion(1,0,0, 0)), angularMomentum(Vector3D()),
: position(position), linearMomentum(Vector3D()), orientation(Quaternion(0,1,0, 0.0)), angularMomentum(Vector3D()),
linearVelocity(Vector3D()), angularVelocity(Vector3D()), spin(Quaternion()), inertiaTensorInverse(inertiaTensorInverse),
massInverse(massInverse) {
// TODO : orientation will be initialized in another way
@ -63,7 +63,7 @@ void BodyState::recalculate() {
orientation = orientation.getUnit();
// Compute the spin quaternion
spin = Quaternion(0, angularVelocity.getX(), angularVelocity.getY(), angularVelocity.getZ()) * orientation * 0.5;
spin = Quaternion(angularVelocity.getX(), angularVelocity.getY(), angularVelocity.getZ(), 0) * orientation * 0.5;
}
// Compute the body state at time t + dt
@ -90,12 +90,11 @@ void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& l
// Return the force on the body at time t
Vector3D BodyState::computeForce(Time time) const {
// TODO : Implement this method
return Vector3D(sin(time.getValue()*0.9 + 0.5), sin(time.getValue()*0.5 + 0.4),
sin(time.getValue()*0.7f + 0.9f));
return Vector3D(0.0, 0.0, 1.0);
}
// Return the torque on the body at time
Vector3D BodyState::computeTorque(Time time) const {
// TODO : Implement this method
return Vector3D(-1.0, 0.0 ,0);
return Vector3D(0.0, -1.0 ,0);
}