195 lines
9.0 KiB
C++
195 lines
9.0 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 Lesser General Public License as published *
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* by 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 Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser 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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#ifndef BODYSTATE_H
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#define BODYSTATE_H
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// Libraries
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#include "../mathematics/mathematics.h"
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#include "../physics/physics.h"
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#include "DerivativeBodyState.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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// TODO : Remove this class and put everything in the RigidBody class
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/* -------------------------------------------------------------------
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Class BodyState :
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A BodyState contains all the dynamics values of a body.
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-------------------------------------------------------------------
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*/
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class BodyState {
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private :
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// Primary values
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Vector3D position; // Position of the body
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Vector3D linearMomentum; // Linear momentum of the body
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Quaternion orientation; // Orientation quaternion of the body
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Vector3D angularMomentum; // Angular momentum of the body
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Vector3D externalForce; // Current external force on the body
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Vector3D externalTorque; // Current external torque on the body
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// Secondary values
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Vector3D linearVelocity; // Linear velocity of the body
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Vector3D angularVelocity; // Angular velocity of the body
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Quaternion spin; // Spin is the derivative of orientation quaternion over time.
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// Constants
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Matrix3x3 inertiaTensorInverse; // Inverse of the inertia tensor of the body
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Kilogram massInverse; // Inverse of the mass of the body
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public :
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BodyState(const Vector3D& position, const Quaternion& orientation, const Matrix3x3& inertiaTensorInverse, const Kilogram& massInverse); // Constructor
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BodyState(const BodyState& bodyState); // Copy-constructor
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virtual ~BodyState(); // Destructor
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Vector3D getPosition() const; // Return the position of the body
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void setPosition(const Vector3D& position); // Set the position of the body
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Vector3D getLinearMomentum() const; // Return the linear momemtum
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void setLinearMomentum(const Vector3D& linearMomentum); // Set the linear momentum
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Quaternion getOrientation() const; // Return the orientation quaternion
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void setOrientation(const Quaternion& orientation); // Set the orientation quaternion
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Vector3D getAngularMomentum() const; // Return the angular momentum
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void setAngularMomentum(const Vector3D& angularMomentum); // Set the angular momentum
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Vector3D getLinearVelocity() const; // Return the linear velocity
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void setLinearVelocity(const Vector3D& linearVelocity); // TODO : Delete this
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Vector3D getAngularVelocity() const; // Return the angular velocity
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Quaternion getSpin() const; // Return the spin of the body
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void setMassInverse(Kilogram massInverse); // Set the inverse of the mass
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Matrix3x3 getInertiaTensorInverse() const; // Get the inverse of the inertia tensor
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void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse); // Set the inverse of the inertia tensor
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Vector3D getExternalForce() const; // Return the current external force of the body
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void setExternalForce(const Vector3D& force); // Set the current external force on the body
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Vector3D getExternalTorque() const; // Return the current external torque of the body
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void setExternalTorque(const Vector3D& torque); // Set the current external torque of the body
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Kilogram getMassInverse() const; // TODO : Delete this
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void recalculate(); // Recalculate the secondary values
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// of the BodyState from the primary ones
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void computeAtTime(const Time& timeStep,
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const DerivativeBodyState& lastDerivativeBodyState); // Compute the body state at time t + dt
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Vector3D computeForce(Time time) const; // Return the force on the body at time t
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Vector3D computeTorque(Time time) const; // Return the torque on the body at time t
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};
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// --- Inlines functions --- //
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// Return the position of the body
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inline Vector3D BodyState::getPosition() const {
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return position;
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}
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// Set the position of the body
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inline void BodyState::setPosition(const Vector3D& position) {
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this->position = position;
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}
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// Return the linear momentum of the body
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inline Vector3D BodyState::getLinearMomentum() const {
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return linearMomentum;
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}
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// Set the linear momentum of the body
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inline void BodyState::setLinearMomentum(const Vector3D& linearMomentum) {
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this->linearMomentum = linearMomentum;
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}
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// Return the orientation quaternion of the body
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inline Quaternion BodyState::getOrientation() const {
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return orientation;
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}
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// Set the orientation quaternion
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inline void BodyState::setOrientation(const Quaternion& orientation) {
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this->orientation = orientation;
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}
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// Return the angular momentum of the body
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inline Vector3D BodyState::getAngularMomentum() const {
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return angularMomentum;
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}
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// Set the angular momentum of the body
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inline void BodyState::setAngularMomentum(const Vector3D& angularMomentum) {
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this->angularMomentum = angularMomentum;
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}
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// Return the linear velocity
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inline Vector3D BodyState::getLinearVelocity() const {
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return linearVelocity;
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}
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inline void BodyState::setLinearVelocity(const Vector3D& linearVelocity) {
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this->linearVelocity = linearVelocity;
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}
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// Return the angular velocity of the body
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inline Vector3D BodyState::getAngularVelocity() const {
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return angularVelocity;
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}
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// Return the spin of the body
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inline Quaternion BodyState::getSpin() const {
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return spin;
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}
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// Set the inverse of the mass
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inline void BodyState::setMassInverse(Kilogram massInverse) {
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this->massInverse = massInverse;
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}
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// Get the inverse of the inertia tensor
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inline Matrix3x3 BodyState::getInertiaTensorInverse() const {
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return inertiaTensorInverse;
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}
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// Set the inverse of the inertia tensor
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inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse) {
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this->inertiaTensorInverse = inertiaTensorInverse;
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}
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// Return the external force on the body
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inline Vector3D BodyState::getExternalForce() const {
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return externalForce;
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}
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// Set the external force on the body
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inline void BodyState::setExternalForce(const Vector3D& force) {
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this->externalForce = force;
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}
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// Return the current external torque on the body
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inline Vector3D BodyState::getExternalTorque() const {
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return externalTorque;
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}
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// Set the current external torque on the body
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inline void BodyState::setExternalTorque(const Vector3D& torque) {
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this->externalTorque = torque;
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}
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// TODO : Delete this
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inline Kilogram BodyState::getMassInverse() const {
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return massInverse;
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}
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} // End of the ReactPhysics3D namespace
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#endif
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