1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
|
// 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 x1, double y1,
double x2, double y2, double xDot, double yDot, double thetaDot);
// Access the current state.
inline double GetTime () const;
inline double GetDeltaTime () const;
inline double GetX () const;
inline double GetXDot () const;
inline double GetY () const;
inline double GetYDot () const;
inline double GetTheta () const;
inline double GetThetaDot () const;
void Get (double& x1, double& y1, double& x2, double& y2) const;
// Apply a single step of the solver.
void Update ();
// physical constants // symbols used in the Game Physics book
double Gravity; // g
double Mass1, Mass2; // m1, m2
double Friction1, Friction2; // c1, c2
protected:
// state and auxiliary variables
double mTime, mDeltaTime;
double mLength1, mLength2;
double mState[6], mAux[7];
// 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
|
