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rigidbody.h

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00001 /***************************************************************************
00002                    rigidbody.h  -  Rigid body physics node
00003                              -------------------
00004     begin                : Sat Jan 3 2004
00005     copyright            : (C) 2004 by Reality Rift Studios
00006     email                : mattias@realityrift.com
00007  ***************************************************************************
00008 
00009  The contents of this file are subject to the Mozilla Public License Version
00010  1.1 (the "License"); you may not use this file except in compliance with
00011  the License. You may obtain a copy of the License at 
00012  http://www.mozilla.org/MPL/
00013 
00014  Software distributed under the License is distributed on an "AS IS" basis,
00015  WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
00016  for the specific language governing rights and limitations under the
00017  License.
00018 
00019  The Original Code is the NeoEngine, rigidbody.h
00020 
00021  The Initial Developer of the Original Code is Mattias Jansson.
00022  Portions created by Mattias Jansson are Copyright (C) 2004
00023  Reality Rift Studios. All Rights Reserved.
00024 
00025  ***************************************************************************/
00026 
00027 #ifndef __NERIGIDBODY_H
00028 #define __NERIGIDBODY_H
00029 
00030 
00037 #include "base.h"
00038 #include "massparticle.h"
00039 
00040 #include <vector>
00041 
00042 
00043 namespace NeoEngine
00044 {
00045 
00046 
00051 class NEOENGINE_API RigidBodyState
00052 {
00053     public:
00054 
00056         Matrix                                        m_kInvBodyInertiaTensor;
00057 
00059         Matrix                                        m_kInvInertiaTensor;
00060 
00062         Vector3d                                      m_kAngularVelocity;
00063 
00065         Vector3d                                      m_kTorque;
00066 
00068         Matrix                                        m_kRotation;
00069 
00072                                                       RigidBodyState() {}
00073 
00081                                                       RigidBodyState( const Matrix &rkInvBodyInertiaTensor, const Matrix &rkInvInertiaTensor, const Vector3d &rkAngularVelocity, const Vector3d &rkTorque, const Matrix &rkRotation ) : m_kInvBodyInertiaTensor( rkInvBodyInertiaTensor ), m_kInvInertiaTensor( rkInvInertiaTensor ), m_kAngularVelocity( rkAngularVelocity ), m_kTorque( rkTorque ), m_kRotation( rkRotation ) {}
00082 
00086                                                       RigidBodyState( const RigidBodyState &rkState ) : m_kInvBodyInertiaTensor( rkState.m_kInvBodyInertiaTensor ), m_kInvInertiaTensor( rkState.m_kInvInertiaTensor ), m_kAngularVelocity( rkState.m_kAngularVelocity ), m_kTorque( rkState.m_kTorque ), m_kRotation( rkState.m_kRotation ) {}
00087 
00093         bool                                          operator < ( const RigidBodyState &rkState ) const { return( false ); }
00094 
00100         bool                                          operator == ( const RigidBodyState &rkState ) const { return( ( m_kInvBodyInertiaTensor == rkState.m_kInvBodyInertiaTensor ) && ( m_kInvInertiaTensor == rkState.m_kInvInertiaTensor ) && ( m_kAngularVelocity == rkState.m_kAngularVelocity ) && ( m_kTorque == rkState.m_kTorque ) && ( m_kRotation == rkState.m_kRotation ) ); }
00101 };
00102 
00103 
00104 #ifdef WIN32
00105 #  ifdef _MSC_VER
00106 #    pragma warning( disable : 4231 )
00107 #  endif
00108 #  ifndef __HAVE_VECTOR_NERIGIDBODYSTATEOBJ
00109      UDTVectorEXPIMP( RigidBodyState );
00110 #    define __HAVE_VECTOR_NERIGIDBODYSTATEOBJ
00111 #  endif
00112 #endif
00113 
00114 
00120 class NEOENGINE_API RigidBody : public MassParticle
00121 {
00122     friend class PhysicsManager;
00123 
00124     private:
00125 
00127         std::vector< RigidBodyState >                 m_vkStateStack;
00128 
00129 
00130 
00131     protected:
00132 
00134         Vector3d                                      m_kAngularVelocity;
00135 
00137         Vector3d                                      m_kTorque;
00138 
00140         Matrix                                        m_kInvBodyInertiaTensor;
00141 
00143         Matrix                                        m_kInvInertiaTensor;
00144 
00146         Matrix                                        m_kRotationMatrix;
00147 
00149         float                                         m_fRestitutionCoeff;
00150 
00152         float                                         m_fFrictionCoeff;
00153 
00154 
00155     public:
00156 
00158         bool                                          m_bManaged;
00159 
00160 
00163                                                       RigidBody();
00164 
00167         virtual                                      ~RigidBody();
00168 
00173         virtual SceneNode                            *Duplicate();
00174 
00182         const Vector3d                               &ApplyForce( const Vector3d &rkForce, const Vector3d& rkPos, bool bLocal = false );
00183 
00190         void                                          ApplyImpulse( const Vector3d& rkImpulse, const Vector3d& rkPos, bool bLocal = false );
00191 
00195         void                                          ResetTorque();
00196 
00200         inline void                                   ResetForceAndTorque() { ResetForce(); ResetTorque(); }
00201 
00206         virtual void                                  Update( float fDeltaTime );
00207 
00212         virtual void                                  SetAngularVelocity( const Vector3d &rkVelocity );
00213 
00220         Vector3d                                      GetPointVelocity( const Vector3d &rkPoint, bool bLocal = false );
00221 
00225         inline const Vector3d                        &GetAngularVelocity() const { return m_kAngularVelocity; }
00226 
00232         void                                          SetMassiveBlock( const Vector3d &rkDim, float fMass );
00233 
00238         void                                          SetInvBodyInertiaTensor( const Matrix &rkInvBodyInertiaTensor );
00239 
00243         inline const Matrix                          &GetInvInertiaTensor() const { return m_kInvInertiaTensor; }
00244 
00249         void                                          SetRestitution( float fCoeff ) { m_fRestitutionCoeff = CLAMP< float >( fCoeff, 0.0f, 1.0f ); }
00250 
00254         inline float                                  GetRestitution() const { return m_fRestitutionCoeff; }
00255 
00260         void                                          SetFriction( float fCoeff ) { m_fFrictionCoeff = CLAMP< float >( fCoeff, 0.0f, 1.0f ); }
00261 
00265         inline float                                  GetFriction() const { return m_fFrictionCoeff; }
00266 
00270         virtual void                                  PushState();
00271 
00276         virtual void                                  PopState( bool bSet = true );
00277 
00281         virtual void                                  ClearState();
00282 };
00283 
00284 
00285 };
00286 
00287 
00288 #endif

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