Dynamic.h

/*
 * 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