91 lines
4.5 KiB
C++
91 lines
4.5 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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#include "Inertia.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::Math::Quaternion quaternion;
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::Oyster::Math::Float3 centerPos, //!< Location of the body's center in the world.
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boundingReach, //!<
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momentum_Linear, //!< The linear momentum G (kg*m/s).
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momentum_Angular, //!< The angular momentum H (Nm*s) around an parallell axis.
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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.
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gravityNormal;
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::Oyster::Math::Float restitutionCoeff, //!<
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frictionCoeff_Static, //!<
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frictionCoeff_Kinetic; //!<
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RigidBody();
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RigidBody & operator = ( const RigidBody &body );
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void Update_LeapFrog( ::Oyster::Math::Float updateFrameLength );
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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 );
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void Move( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
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void ApplyImpulse( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
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void ApplyImpulse_Linear( const ::Oyster::Math::Float3 &worldJ );
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void ApplyImpulse_Angular( const ::Oyster::Math::Float3 &worldJ );
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void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
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void ApplyForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
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// GET METHODS ////////////////////////////////
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const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
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::Oyster::Math::Float GetMass() const;
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const ::Oyster::Math::Quaternion & GetRotationQuaternion() const;
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::Oyster::Math::Float4x4 GetRotationMatrix() const;
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::Oyster::Math::Float4x4 GetOrientation() const;
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::Oyster::Math::Float4x4 GetView() const;
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::Oyster::Math::Float4x4 GetToWorldMatrix() const;
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::Oyster::Math::Float4x4 GetToLocalMatrix() const;
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::Oyster::Math::Float3 GetSize() const;
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::Oyster::Math::Float3 GetVelocity_Linear() const;
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::Oyster::Math::Float3 GetVelocity_Angular() const;
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::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &atWorldPos ) const;
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// SET METHODS ////////////////////////////////
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void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
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void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
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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 SetRotation( const ::Oyster::Math::Quaternion &quaternion );
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void SetSize( const ::Oyster::Math::Float3 &widthHeight );
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void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );
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void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV );
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void SetVelocity_Linear( const ::Oyster::Math::Float3 &worldV, const ::Oyster::Math::Float3 &atWorldPos );
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void SetVelocity_Angular( const ::Oyster::Math::Float3 &worldW );
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void SetImpulse_Linear( const ::Oyster::Math::Float3 &worldJ, const ::Oyster::Math::Float3 &atWorldPos );
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//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength );
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//void SetForce( const ::Oyster::Math::Float3 &worldF, ::Oyster::Math::Float updateFrameLength, const ::Oyster::Math::Float3 &atWorldPos );
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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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::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor;
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//::Oyster::Math::Quaternion rotation; //!< RotationAxis of the body.
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};
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} }
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#include "RigidBody_Inline.h"
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#endif
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