Danbias/Code/OysterPhysics3D/RigidBody.h

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/////////////////////////////////////////////////////////////////////
// Created by Dan Andersson 2013
/////////////////////////////////////////////////////////////////////
#ifndef OYSTER_PHYSICS_3D_RIGIDBODY_H
#define OYSTER_PHYSICS_3D_RIGIDBODY_H
#include "OysterMath.h"
#include "OysterCollision3D.h"
#include "OysterPhysics3D.h"
#include "Inertia.h"
namespace Oyster { namespace Physics3D
{
struct RigidBody
{ //! A struct of a simple rigid body.
public:
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::Oyster::Math::Quaternion quaternion;
::Oyster::Math::Float3 centerPos, //!< Location of the body's center in the world.
boundingReach, //!<
momentum_Linear, //!< The linear momentum G (kg*m/s).
momentum_Angular, //!< The angular momentum H (Nm*s) around an parallell axis.
impulse_Linear, //!< The linear impulse sum Jl (kg*m/s) that will be consumed each update.
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impulse_Angular, //!< The angular impulse sum Ja (kg*m^2/s) that will be consumed each update.
gravityNormal;
::Oyster::Math::Float restitutionCoeff, //!<
frictionCoeff_Static, //!<
frictionCoeff_Kinetic; //!<
RigidBody();
RigidBody & operator = ( const RigidBody &body );
void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
void Predict_LeapFrog( ::Oyster::Math::Float3 &outDeltaPos, ::Oyster::Math::Float3 &outDeltaAxis, const ::Oyster::Math::Float3 &actingLinearImpulse, const ::Oyster::Math::Float3 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void Move( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
void ApplyImpulse( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
void ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ );
void ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ );
void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
// GET METHODS ////////////////////////////////
const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
::Oyster::Math::Float GetMass() const;
const ::Oyster::Math::Quaternion & GetRotationQuaternion() const;
::Oyster::Math::Float4x4 GetRotationMatrix() const;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetToWorldMatrix() const;
::Oyster::Math::Float4x4 GetToLocalMatrix() const;
::Oyster::Math::Float3 GetSize() const;
::Oyster::Math::Float3 GetVelocity_Linear() const;
::Oyster::Math::Float3 GetVelocity_Angular() const;
::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &atWorldPos ) const;
// SET METHODS ////////////////////////////////
void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
//void SetOrientation( const ::Oyster::Math::Float4x4 &o );
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void SetRotation( const ::Oyster::Math::Quaternion &quaternion );
void SetSize( const ::Oyster::Math::Float3 &widthHeight );
void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );
void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV );
void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &atWorldPos );
void SetVelocity_Angular( const ::Oyster::Math::Float3 &worldW );
void SetImpulse_Linear( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
private:
::Oyster::Math::Float mass; //!< m (kg)
//::Oyster::Math::Float4x4 momentOfInertiaTensor; //!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue)
::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor;
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//::Oyster::Math::Quaternion rotation; //!< RotationAxis of the body.
};
} }
#include "RigidBody_Inline.h"
#endif