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/*
* 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
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