/* * SOLID - Software Library for Interference Detection * * Copyright (C) 2001-2003 Dtecta. All rights reserved. * * This library may be distributed under the terms of the Q Public License * (QPL) as defined by Trolltech AS of Norway and appearing in the file * LICENSE.QPL included in the packaging of this file. * * This library may be distributed and/or modified under the terms of the * GNU General Public License (GPL) version 2 as published by the Free Software * Foundation and appearing in the file LICENSE.GPL included in the * packaging of this file. * * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. * * Commercial use or any other use of this library not covered by either * the QPL or the GPL requires an additional license from Dtecta. * Please contact info@dtecta.com for enquiries about the terms of commercial * use of this library. */ #include "Dynamic.h" void Dynamic::setMassProps(MT_Scalar mass, const MT_Vector3& inertia) { m_inv_mass = mass != 0.0f ? 1.0f / mass : 0.0f; m_inv_inertia.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f, inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f, inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f); } void Dynamic::updateInertiaTensor() { m_inv_inertia_tensor = m_xform.getBasis().scaled(m_inv_inertia) * m_xform.getBasis().transpose(); } void Dynamic::proceed(MT_Scalar step) { Kinetic::proceed(step); updateInertiaTensor(); m_lin_vel += m_total_force * (m_inv_mass * step); m_ang_vel += m_inv_inertia_tensor * m_total_torque * step; clearForces(); } void Dynamic::setTransform(const MT_Transform& xform) { Kinetic::setTransform(xform); updateInertiaTensor(); } void Dynamic::reset(const MT_Transform& xform) { Kinetic::reset(xform); updateInertiaTensor(); clearForces(); }