65 lines
1.9 KiB
C
65 lines
1.9 KiB
C
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/////////////////////////////////////////////////////////////////////
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// INLINE IMPLEMENTATIONS
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// Created by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#ifndef OYSTER_PHYSICS_3D_RIGIDBODY_INLINE_H
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#define OYSTER_PHYSICS_3D_RIGIDBODY_INLINE_H
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#include "RigidBody.h"
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namespace Oyster { namespace Physics3D
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{
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inline void RigidBody::ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ )
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{
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this->impulse_Linear += worldJ;
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}
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inline void RigidBody::ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ )
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{
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this->impulse_Angular += worldJ;
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}
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inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength )
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{
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this->impulse_Linear += worldF * updateFrameLength;
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}
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inline void RigidBody::ApplyForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
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{
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this->ApplyImpulse( worldF * updateFrameLength, atWorldPos );
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}
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inline ::Oyster::Math::Float4x4 RigidBody::GetToWorldMatrix() const
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{
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return this->GetOrientation();
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}
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inline ::Oyster::Math::Float4x4 RigidBody::GetToLocalMatrix() const
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{
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return this->GetView();
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}
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inline ::Oyster::Math::Float4 RigidBody::GetSize() const
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{
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return 2.0f * this->boundingReach;
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}
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inline void RigidBody::SetSize( const ::Oyster::Math::Float4 &widthHeight )
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{
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this->boundingReach = ::Utility::Value::Abs( 0.5f * widthHeight );
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}
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inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength )
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{
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this->impulse_Linear = worldF * updateFrameLength;
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}
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inline void RigidBody::SetForce( const ::Oyster::Math::Float4 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float4 &atWorldPos )
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{
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this->SetImpulse_Linear( worldF * updateFrameLength, atWorldPos );
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}
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} }
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#endif
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