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