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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.
*/
#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();
}
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