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RigidBody::Move(..) added

This commit is contained in:
Dander7BD 2013-12-20 11:19:07 +01:00
parent 604a17056c
commit 9a67e7ef3d
2 changed files with 8 additions and 0 deletions
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7
Code/OysterPhysics3D/RigidBody.cpp
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@ -82,6 +82,13 @@ void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, con
outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
}
void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis )
{
this->centerPos += deltaPos;
this->axis += deltaAxis;
this->rotation = Rotation( this->axis );
}
void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
{ // by Dan Andersson
Float4 worldOffset = atWorldPos - this->centerPos;

1
Code/OysterPhysics3D/RigidBody.h
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@ -32,6 +32,7 @@ namespace Oyster { namespace Physics3D
void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
void Predict_LeapFrog( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
void Move( const ::Oyster::Math::Float4 &deltaPos, const ::Oyster::Math::Float4 &deltaAxis );
void ApplyImpulse( const ::Oyster::Math::Float4 &worldJ, const ::Oyster::Math::Float4 &atWorldPos );
void ApplyImpulse_Linear( const ::Oyster::Math::Float4 &worldJ );
void ApplyImpulse_Angular( const ::Oyster::Math::Float4 &worldJ );