138 lines
7.1 KiB
C++
138 lines
7.1 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.
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::Oyster::Math::Float3 angularMomentum, /// The angular momentum H (Nm*s) around an parallell axis.
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linearMomentum, /// The linear momentum G (kg*m/s).
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impulseTorqueSum, /// The impulse torque T (Nm) that will be consumed each update.
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impulseForceSum; /// The impulse force F (N) that will be consumed each update.
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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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void Update_LeapFrog( ::Oyster::Math::Float deltaTime );
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void ApplyImpulseForce( const ::Oyster::Math::Float3 &f );
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void ApplyImpulseForceAt_Local( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos );
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void ApplyImpulseForceAt_World( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos ); /// ApplyImpulseForce_LocalPos is preferred
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void ApplyLinearImpulseAcceleration( const ::Oyster::Math::Float3 &a );
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void ApplyLinearImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos );
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void ApplyLinearImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos ); /// ApplyLinearImpulseAcceleration_LocalPos is preferred
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void ApplyImpulseTorque( const ::Oyster::Math::Float3 &t );
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void ApplyAngularImpulseAcceleration( const ::Oyster::Math::Float3 &a );
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// ACCESS METHODS /////////////////////////////
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::Oyster::Math::Float4x4 & AccessOrientation();
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const ::Oyster::Math::Float4x4 & AccessOrientation() const;
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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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::Oyster::Math::Float3 GetTangentialImpulseForceAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialImpulseForceAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialLinearMomentumAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialLinearMomentumAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialLinearVelocityAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetTangentialLinearVelocityAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetImpulseForceAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetImpulseForceAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetLinearMomentumAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetLinearMomentumAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetLinearVelocityAt_Local( const ::Oyster::Math::Float3 &pos ) const;
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::Oyster::Math::Float3 GetLinearVelocityAt_World( const ::Oyster::Math::Float3 &pos ) const;
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// SET METHODS ////////////////////////////////
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void SetMomentOfInertia( const ::Oyster::Math::Float4x4 &i );
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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 &p );
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void SetImpulsTorque( const ::Oyster::Math::Float3 &t );
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void SetAngularMomentum( const ::Oyster::Math::Float3 &h );
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void SetAngularImpulseAcceleration( const ::Oyster::Math::Float3 &a );
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void SetAngularVelocity( const ::Oyster::Math::Float3 &w );
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void SetImpulseForce( const ::Oyster::Math::Float3 &f );
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void SetLinearMomentum( const ::Oyster::Math::Float3 &g );
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void SetLinearImpulseAcceleration( const ::Oyster::Math::Float3 &a );
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void SetLinearVelocity( const ::Oyster::Math::Float3 &v );
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void SetImpulseForceAt_Local( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos );
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void SetImpulseForceAt_World( const ::Oyster::Math::Float3 &f, const ::Oyster::Math::Float3 &pos );
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void SetLinearMomentumAt_Local( const ::Oyster::Math::Float3 &g, const ::Oyster::Math::Float3 &pos );
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void SetLinearMomentumAt_World( const ::Oyster::Math::Float3 &g, const ::Oyster::Math::Float3 &pos );
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void SetImpulseAccelerationAt_Local( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos );
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void SetImpulseAccelerationAt_World( const ::Oyster::Math::Float3 &a, const ::Oyster::Math::Float3 &pos );
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void SetLinearVelocityAt_Local( const ::Oyster::Math::Float3 &v, const ::Oyster::Math::Float3 &pos );
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void SetLinearVelocityAt_World( const ::Oyster::Math::Float3 &v, const ::Oyster::Math::Float3 &pos );
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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 )
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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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