69 lines
3.5 KiB
C++
69 lines
3.5 KiB
C++
/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "RigidBody.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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RigidBody::RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor)
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: Body(mass), inertiaTensor(inertiaTensor),
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currentBodyState(position, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
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previousBodyState(position, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
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isMotionEnabled = true;
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isCollisionEnabled = true;
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interpolationFactor = 0.0;
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}
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// Copy-constructor
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RigidBody::RigidBody(const RigidBody& rigidBody) : Body(rigidBody), inertiaTensor(rigidBody.inertiaTensor),
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currentBodyState(rigidBody.currentBodyState), previousBodyState(rigidBody.previousBodyState) {
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this->isMotionEnabled = rigidBody.isMotionEnabled;
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this->isCollisionEnabled = rigidBody.isCollisionEnabled;
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interpolationFactor = rigidBody.interpolationFactor;
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}
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// Destructor
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RigidBody::~RigidBody() {
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};
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// Compute the linear interpolation state between the previous body state and the current body state
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// This is used to avoid visual stuttering when the display and physics framerates are out of synchronization
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BodyState RigidBody::getInterpolatedState() const {
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// Get the interpolation factor
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double alpha = interpolationFactor;
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// Compute the linear interpolation state
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BodyState interpolatedState = currentBodyState; // Used to take massInverse, inertiaTensorInverse
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interpolatedState.setPosition(previousBodyState.getPosition() * (1-alpha) + currentBodyState.getPosition() * alpha);
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interpolatedState.setLinearMomentum(previousBodyState.getLinearMomentum() * (1-alpha) + currentBodyState.getLinearMomentum() * alpha);
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interpolatedState.setOrientation(Quaternion::slerp(previousBodyState.getOrientation(), currentBodyState.getOrientation(), alpha));
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interpolatedState.setAngularMomentum(previousBodyState.getAngularMomentum() * (1-alpha) + currentBodyState.getAngularMomentum() * alpha);
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// Recalculate the secondary state values
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interpolatedState.recalculate();
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// Return the interpolated state
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return interpolatedState;
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}
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