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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"
#include "Wm5HMatrix.h"
using namespace Wm5;
class PhysicsModule
{
public:
// Construction and destruction.
PhysicsModule ();
~PhysicsModule ();
// Initialize the differential equation solver. The inputs theta, phi,
// and psi determine the body coordinate axes Xi1, Xi2, and Xi3. The
// angular velocity inputs are the coefficients in the body coordinate
// system.
void Initialize (double time, double deltaTime, double theta, double phi,
double psi, double angVel1, double angVel2, double angVel3);
// Apply a single step of the solver.
void Update ();
// Access the current state.
inline double GetTime () const;
inline double GetDeltaTime () const;
inline double GetTheta () const;
inline double GetPhi () const;
inline double GetPsi () const;
// Get the body coordinate axes in world coordinates. The axes are
// stored as the columns of a rotation matrix.
HMatrix GetBodyAxes () const;
// The physical constants.
double Gravity;
double Mass;
double Length;
double Inertia1, Inertia3; // Inertia2 = Inertia1
private:
// State and auxiliary variables.
double mTime, mDeltaTime;
double mState[3], mAux[5];
// 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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