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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@147 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-06-29 19:14:27 +00:00
parent 9c4fddf21d
commit b76c866d86
4 changed files with 182 additions and 0 deletions
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53
sources/reactphysics3d/engine/Euler.cpp Normal file
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/****************************************************************************
* Copyright (C) 2009 Daniel Chappuis *
****************************************************************************
* This file is part of ReactPhysics3D. *
* *
* ReactPhysics3D is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ReactPhysics3D is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
// Libraries
#include "Euler.h"
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
Euler::Euler() {
}
// Copy-constructor
Euler::Euler(const Euler& euler) {
}
// Destructor
Euler::~Euler() {
}
// Integrate a body state over time. This method use the Euler integration algorithm
void Euler::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
double dt = timeStep.getValue(); // Timestep
// Compute the integrated body state
bodyState.setPosition(bodyState.getPosition() + bodyState.getLinearVelocity() * dt);
bodyState.setLinearMomentum(bodyState.getLinearMomentum() + bodyState.computeForce(time) * dt);
bodyState.setOrientation(bodyState.getOrientation() + bodyState.getSpin() * dt);
bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.computeTorque(time) * dt);
// Recalculate the secondary values of the body state
bodyState.recalculate();
}

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sources/reactphysics3d/engine/Euler.h Normal file
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/****************************************************************************
* Copyright (C) 2009 Daniel Chappuis *
****************************************************************************
* This file is part of ReactPhysics3D. *
* *
* ReactPhysics3D is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ReactPhysics3D is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#ifndef EULER_H
#define EULER_H
// Libraries
#include "IntegrationAlgorithm.h"
#include "../body/BodyState.h"
#include "../body/DerivativeBodyState.h"
// Namespace ReactPhysics3D
namespace reactphysics3d {
/* -------------------------------------------------------------------
Class Euler :
This class will be used to solve the differential equation of
movement by integrating a body state. This class implements
the Euler algorithm. It's important to undersand that Euler
algorithm should be used only for testing purpose because the
Euler algorithm is not a good one.
-------------------------------------------------------------------
*/
class Euler : public IntegrationAlgorithm {
private :
public :
Euler(); // Constructor
Euler(const Euler& euler); // Copy-constructor
virtual ~Euler(); // Destructor
void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
};
}
#endif

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sources/reactphysics3d/engine/IntegrationAlgorithm.cpp Normal file
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/****************************************************************************
* Copyright (C) 2009 Daniel Chappuis *
****************************************************************************
* This file is part of ReactPhysics3D. *
* *
* ReactPhysics3D is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ReactPhysics3D is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
// Libraries
#include "IntegrationAlgorithm.h"
// Namespace
using namespace reactphysics3d;
// Constructor
IntegrationAlgorithm::IntegrationAlgorithm() {
}
// Destructor
IntegrationAlgorithm::~IntegrationAlgorithm() {
}

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sources/reactphysics3d/engine/IntegrationAlgorithm.h Normal file
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/****************************************************************************
* Copyright (C) 2009 Daniel Chappuis *
****************************************************************************
* This file is part of ReactPhysics3D. *
* *
* ReactPhysics3D is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ReactPhysics3D is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#ifndef INTEGRATIONALGORITHM_H
#define INTEGRATIONALGORITHM_H
// Libraries
#include "../body/BodyState.h"
#include "../physics/physics.h"
// ReactPhysics3D namespace
namespace reactphysics3d {
class IntegrationAlgorithm {
private :
public :
IntegrationAlgorithm(); // Constructor
virtual ~IntegrationAlgorithm(); // Destructor
virtual void integrate(BodyState& bodyState, const Time& t, const Time& dt)=0; // Integrate a body state over time
};
} // End of the ReactPhysics3D namespace
#endif