Danbias/Code/OysterPhysics3D/RigidBody_Inline.h

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