119 lines
5.3 KiB
C++
119 lines
5.3 KiB
C++
/////////////////////////////////////////////////////////////////////
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// Created by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#ifndef OYSTER_PHYSICS_3D_RIGIDBODY_H
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#define OYSTER_PHYSICS_3D_RIGIDBODY_H
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#include "OysterMath.h"
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#include "OysterCollision3D.h"
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#include "OysterPhysics3D.h"
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namespace Oyster { namespace Physics3D
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{
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struct RigidBody
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{ /// A struct of a simple rigid body.
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public:
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::Oyster::Collision3D::Box box; /** Contains data representing physical presence. (worldValue) */
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::Oyster::Math::Float3 angularMomentum, /** The angular momentum H (Nm*s) around an parallell axis. (worldValue) */
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linearMomentum, /** The linear momentum G (kg*m/s). (worldValue) */
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impulseTorqueSum, /** The impulse torque T (Nm) that will be consumed each update. (worldValue) */
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impulseForceSum; /** The impulse force F (N) that will be consumed each update. (worldValue) */
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RigidBody( const ::Oyster::Collision3D::Box &box = ::Oyster::Collision3D::Box(), ::Oyster::Math::Float mass = 1.0f );
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RigidBody & operator = ( const RigidBody &body );
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bool operator == ( const RigidBody &body );
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bool operator != ( const RigidBody &body );
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void Update_LeapFrog( ::Oyster::Math::Float deltaTime );
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void ApplyImpulseForce( const ::Oyster::Math::Float3 &worldF );
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void ApplyImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos );
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void ApplyLinearImpulseAcceleration( const ::Oyster::Math::Float3 &worldA );
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void ApplyLinearImpulseAccelerationAt( const ::Oyster::Math::Float3 &worldA, const ::Oyster::Math::Float3 &worldPos );
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void ApplyImpulseTorque( const ::Oyster::Math::Float3 &worldT );
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void ApplyAngularImpulseAcceleration( const ::Oyster::Math::Float3 &worldA );
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// ACCESS METHODS /////////////////////////////
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::Oyster::Math::Float3 & AccessBoundingReach();
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const ::Oyster::Math::Float3 & AccessBoundingReach() const;
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::Oyster::Math::Float3 & AccessCenter();
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const ::Oyster::Math::Float3 & AccessCenter() const;
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// GET METHODS ////////////////////////////////
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const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
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const ::Oyster::Math::Float & GetMass() const;
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const ::Oyster::Math::Float4x4 GetOrientation() const;
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::Oyster::Math::Float4x4 GetView() const;
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const ::Oyster::Math::Float4x4 & GetToWorldMatrix() const;
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::Oyster::Math::Float4x4 GetToLocalMatrix() const;
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const ::Oyster::Math::Float3 & GetBoundingReach() const;
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::Oyster::Math::Float3 GetSize() const;
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const ::Oyster::Math::Float3 & GetCenter() const;
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const ::Oyster::Math::Float3 & GetImpulsTorque() const;
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const ::Oyster::Math::Float3 & GetAngularMomentum() const;
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::Oyster::Math::Float3 GetAngularImpulseAcceleration() const;
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::Oyster::Math::Float3 GetAngularVelocity() const;
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const ::Oyster::Math::Float3 & GetImpulseForce() const;
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const ::Oyster::Math::Float3 & GetLinearMomentum() const;
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::Oyster::Math::Float3 GetLinearImpulseAcceleration() const;
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::Oyster::Math::Float3 GetLinearVelocity() const;
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void GetMomentumAt( const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &surfaceNormal, ::Oyster::Math::Float3 &normalMomentum, ::Oyster::Math::Float3 &tangentialMomentum ) const;
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// SET METHODS ////////////////////////////////
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void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
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void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
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void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
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void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
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void SetOrientation( const ::Oyster::Math::Float4x4 &o );
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void SetSize( const ::Oyster::Math::Float3 &widthHeight );
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void SetCenter( const ::Oyster::Math::Float3 &worldPos );
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void SetRotation( const ::Oyster::Math::Float4x4 &r );
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void SetImpulseTorque( const ::Oyster::Math::Float3 &worldT );
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void SetAngularMomentum( const ::Oyster::Math::Float3 &worldH );
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void SetAngularImpulseAcceleration( const ::Oyster::Math::Float3 &worldA );
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void SetAngularVelocity( const ::Oyster::Math::Float3 &worldW );
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void SetImpulseForce( const ::Oyster::Math::Float3 &worldF );
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void SetLinearMomentum( const ::Oyster::Math::Float3 &worldG );
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void SetLinearImpulseAcceleration( const ::Oyster::Math::Float3 &worldA );
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void SetLinearVelocity( const ::Oyster::Math::Float3 &worldV );
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void SetImpulseForceAt( const ::Oyster::Math::Float3 &worldF, const ::Oyster::Math::Float3 &worldPos );
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void SetLinearMomentumAt( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &worldPos );
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void SetImpulseAccelerationAt( const ::Oyster::Math::Float3 &worldA, const ::Oyster::Math::Float3 &worldPos );
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void SetLinearVelocityAt( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &worldPos );
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private:
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::Oyster::Math::Float mass; /** m (kg) */
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::Oyster::Math::Float4x4 momentOfInertiaTensor; /** I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue) */
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};
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// INLINE IMPLEMENTATIONS ///////////////////////////////////////
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inline const ::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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} }
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#endif
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