109 lines
5.0 KiB
C++
109 lines
5.0 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 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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#ifndef RIGIDBODY_H
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#define RIGIDBODY_H
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// Libraries
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#include <cassert>
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#include "Body.h"
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#include "BodyState.h"
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#include "../mathematics/mathematics.h"
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#include "../physics/physics.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class RigidBody :
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This class represents a rigid body of the physics
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engine. A rigid body is a non-deformable body that
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has a constant mass.
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-------------------------------------------------------------------
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*/
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class RigidBody : public Body {
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private :
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Matrix3x3 inertiaTensor; // Inertia tensor of the body
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BodyState currentBodyState; // Current body state
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BodyState previousBodyState; // Previous body state
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bool isMotionEnabled; // True if the body can move
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bool isCollisionEnabled; // True if the body can collide with others bodies
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double interpolationFactor; // Interpolation factor used for the state interpolation
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public :
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RigidBody(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor); // Constructor
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RigidBody(const RigidBody& rigidBody); // Copy-constructor
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virtual ~RigidBody(); // Destructor
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Matrix3x3 getInertiaTensor() const; // Return the inertia tensor of the body
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void setInertiaTensor(const Matrix3x3& inertiaTensor); // Set the inertia tensor of the body
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BodyState& getCurrentBodyState(); // Return a reference to the current state of the body
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void setInterpolationFactor(double factor); // Set the interpolation factor of the body
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BodyState getInterpolatedState() const; // Compute and return the interpolated state
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bool getIsMotionEnabled() const; // Return if the rigid body can move
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void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move
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void updatePreviousBodyState(); // Update the previous body state of the body
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};
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// --- Inline functions --- //
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// Return the inertia tensor of the body
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inline Matrix3x3 RigidBody::getInertiaTensor() const {
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return inertiaTensor;
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}
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// Set the inertia tensor of the body
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inline void RigidBody::setInertiaTensor(const Matrix3x3& inertiaTensor) {
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this->inertiaTensor = inertiaTensor;
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}
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// Return a reference to the current state of the body
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// This way the currentBodyState could be modify outside the rigid body
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inline BodyState& RigidBody::getCurrentBodyState() {
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return currentBodyState;
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}
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// Set the interpolation factor of the body
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inline void RigidBody::setInterpolationFactor(double factor) {
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assert(factor >= 0 && factor <= 1);
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// Set the factor
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interpolationFactor = factor;
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}
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// Return if the rigid body can move
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inline bool RigidBody::getIsMotionEnabled() const {
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return isMotionEnabled;
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}
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// Set the value to true if the body can move
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inline void RigidBody::setIsMotionEnabled(bool isMotionEnabled) {
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this->isMotionEnabled = isMotionEnabled;
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}
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// Update the previous body state of the body
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inline void RigidBody::updatePreviousBodyState() {
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// The current body state becomes the previous body state
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previousBodyState = currentBodyState;
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}
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} // End of the ReactPhyscis3D namespace
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#endif
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