Initial commit

Torque/SDK/engine/game/rigid.h

@@ -0,0 +1,83 @@
+//-----------------------------------------------------------------------------
+// Torque Game Engine
+// Copyright (C) GarageGames.com, Inc.
+//-----------------------------------------------------------------------------
+
+#ifndef _RIGID_H_
+#define _RIGID_H_
+
+#ifndef _PLATFORM_H_
+#include "platform/platform.h"
+#endif
+#ifndef _MPOINT_H_
+#include "math/mPoint.h"
+#endif
+#ifndef _MMATRIX_H_
+#include "math/mMatrix.h"
+#endif
+#ifndef _MQUAT_H_
+#include "math/mQuat.h"
+#endif
+
+//----------------------------------------------------------------------------
+
+class Rigid
+{
+public:
+   Point3F force;
+   Point3F torque;
+
+   Point3F linVelocity;          ///< Linear velocity
+   Point3F linPosition;          ///< Current position
+   Point3F linMomentum;          ///< Linear momentum
+   Point3F angVelocity;          ///< Angular velocity
+   QuatF   angPosition;          ///< Current rotation
+   Point3F angMomentum;          ///< Angular momentum
+
+   MatrixF objectInertia;        ///< Moment of inertia
+   MatrixF invObjectInertia;     ///< Inverse moment of inertia
+   MatrixF invWorldInertia;      ///< Inverse moment of inertia in world space
+
+   Point3F centerOfMass;         ///< Center of mass in object space
+   Point3F worldCenterOfMass;    ///< CofM in world space
+   F32 mass;                     ///< Rigid body mass
+   F32 oneOverMass;              ///< 1 / mass
+   F32 restitution;              ///< Collision restitution
+   F32 friction;                 ///< Friction coefficient
+   bool atRest;
+
+private:
+   void translateCenterOfMass(const Point3F &oldPos,const Point3F &newPos);
+
+public:
+   //
+   Rigid();
+   void clearForces();
+   void integrate(F32 delta);
+
+   void updateInertialTensor();
+   void updateVelocity();
+   void updateCenterOfMass();
+
+   void applyImpulse(const Point3F &v,const Point3F &impulse);
+   bool resolveCollision(const Point3F& p,Point3F normal,Rigid*);
+   bool resolveCollision(const Point3F& p,Point3F normal);
+
+   F32  getZeroImpulse(const Point3F& r,const Point3F& normal);
+   F32  getKineticEnergy();
+   void getOriginVector(const Point3F &r,Point3F* v);
+   void setCenterOfMass(const Point3F &v);
+   void getVelocity(const Point3F &p,Point3F* r);
+   void getTransform(MatrixF* mat);
+   void setTransform(const MatrixF& mat);
+
+   void setObjectInertia(const Point3F& r);
+   void setObjectInertia();
+   void invertObjectInertia();
+
+   bool checkRestCondition();
+   void setAtRest();
+};
+
+
+#endif