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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 x, double w,
double theta, double xDer, double wDer, double thetaDer);
// Access the current state.
inline double GetTime () const;
inline double GetDeltaTime () const;
inline double GetX () const;
inline double GetXDer () const;
inline double GetW () const;
inline double GetWDer () const;
inline double GetTheta () const;
inline double GetThetaDer () const;
// get rectangle corners in counterclockwise order
void GetRectangle (double& x00, double& y00, double& x10, double& y10,
double& x11, double& y11, double& x01, double& y01) const;
// Apply a single step of the solver.
void Update ();
// physical constants // symbols used in the Game Physics book
double Mu; // mu
double Gravity; // g
double Angle; // phi
double SinAngle; // sin(phi)
double CosAngle; // cos(phi)
double XLocExt; // a
double YLocExt; // b
double ZLocExt; // h
protected:
// state and auxiliary variables
double mTime, mDeltaTime;
double mX, mW, mXDer, mWDer;
double mState[6], mAux[2];
// Angular speed can be solved in closed form.
double mTheta0, mThetaDer0, mAngVelCoeff;
// 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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