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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.0 (2010/01/01)
#ifndef PHYSICSMODULE_H
#define PHYSICSMODULE_H
#include "Wm5OdeSolver.h"
using namespace Wm5;
class PhysicsModule
{
public:
// Construction and destruction.
PhysicsModule ();
~PhysicsModule ();
// Initialize the differential equation solver.
void Initialize (double time, double deltaTime, double theta1,
double theta2, double theta1Dot, double theta2Dot);
// Access the current state.
inline double GetTime () const;
inline double GetDeltaTime () const;
inline double GetTheta1 () const;
inline double GetTheta1Dot () const;
inline double GetTheta2 () const;
inline double GetTheta2Dot () const;
void GetPositions (double& x1, double& y1, double& x2,
double& y2) const;
// Apply a single step of the solver.
void Update ();
// The physical constants.
double Gravity;
double Mass1, Mass2;
double Length1, Length2;
double JointX, JointY;
protected:
// State and auxiliary variables.
double mTime, mDeltaTime;
double mState[4], mAux[4];
// ODE solver (specific solver assigned in the cpp file).
OdeSolverd* mSolver;
static void OdeFunction (double time, const double* state, void* data,
double* output);
};
#include "PhysicsModule.inl"
#endif
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