/* * 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. */ #ifndef DYNAMIC_H #define DYNAMIC_H #include "Kinetic.h" class Dynamic : public Kinetic { public: Dynamic() : m_total_force(0.0f, 0.0f, 0.0f), m_total_torque(0.0f, 0.0f, 0.0f) { updateInertiaTensor(); } void setMassProps(MT_Scalar mass, const MT_Vector3& inertia); MT_Scalar getInvMass() const { return m_inv_mass; } const MT_Matrix3x3& getInvInertiaTensor() const { return m_inv_inertia_tensor; } virtual void proceed(MT_Scalar step); virtual void setTransform(const MT_Transform& xform); virtual void reset(const MT_Transform& xform); void applyCentralForce(const MT_Vector3& force) { m_total_force += force; } void applyTorque(const MT_Vector3& torque) { m_total_torque += torque; } void applyForce(const MT_Vector3& force, const MT_Vector3& rel_pos) { applyCentralForce(force); applyTorque(rel_pos.cross(force)); } void applyCentralImpulse(const MT_Vector3& impulse) { m_lin_vel += impulse * m_inv_mass; } void applyTorqueImpulse(const MT_Vector3& torque) { m_ang_vel += m_inv_inertia_tensor * torque; } void applyImpulse(const MT_Vector3& impulse, const MT_Vector3& rel_pos) { applyCentralImpulse(impulse); applyTorqueImpulse(rel_pos.cross(impulse)); } void clearForces() { m_total_force.setValue(0.0f, 0.0f, 0.0f); m_total_torque.setValue(0.0f, 0.0f, 0.0f); } protected: void updateInertiaTensor(); MT_Matrix3x3 m_inv_inertia_tensor; MT_Scalar m_inv_mass; MT_Vector3 m_inv_inertia; MT_Vector3 m_total_force; MT_Vector3 m_total_torque; }; #endif