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/* This file is part of StepCore library.
Copyright (C) 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
StepCore library is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
StepCore library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with StepCore; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/** \file softbody.h
* \brief SoftBody-related classes
*/
#ifndef STEPCORE_SOFTBODY_H
#define STEPCORE_SOFTBODY_H
#include "particle.h"
#include "spring.h"
#include "world.h"
#include <cmath>
namespace StepCore {
/** \ingroup bodies
* \brief Soft body particle
*/
class SoftBodyParticle: public Particle
{
STEPCORE_OBJECT(SoftBodyParticle)
public:
/** Constructs a SoftBadyParticle */
explicit SoftBodyParticle(Vector2d position = Vector2d::Zero(), Vector2d velocity = Vector2d::Zero(), double mass = 1)
: Particle(position, velocity, mass) {}
};
/** \ingroup forces
* \brief Soft body spring
*/
class SoftBodySpring: public Spring
{
STEPCORE_OBJECT(SoftBodySpring)
public:
/** Constructs a SoftBodySpring */
explicit SoftBodySpring(double restLength = 0, double stiffness = 1, double damping = 0,
Item* bodyPtr1 = 0, Item* bodyPtr2 = 0)
: Spring(restLength, stiffness, damping, bodyPtr1, bodyPtr2) {}
};
typedef std::vector<SoftBodyParticle*> SoftBodyParticleList;
/** \ingroup bodies
* \brief SoftBody - a group of several SoftBodyParticle and SoftBodySprings
*/
class SoftBody: public ItemGroup
{
STEPCORE_OBJECT(SoftBody)
public:
/** Constructs a SoftBody */
SoftBody(): _showInternalItems(true) { setColor(0xffa9a9a9); }
/** Creates paricles and springs inside soft body
* \param position Position of the center of the body
* \param size Size of the edge of the body
* \param split Split count of the edge of the body
* \param bodyMass Total mass of the body
* \param youngModulus Young's modulus of the body
* \param bodyDamping Damping of the body
* \return List of particles and springs
*/
ItemList createSoftBodyItems(const Vector2d& position, const Vector2d& size, const Vector2i& split,
double bodyMass, double youngModulus, double bodyDamping);
/** Adds all items to ItemGroup */
void addItems(const ItemList& items);
/** Get the position of the center of mass */
Vector2d position() const;
/** Set the position of the center of mass */
void setPosition(const Vector2d position);
/** Get the velocity of the center of mass */
Vector2d velocity() const;
/** Set the velocity of the center of mass */
void setVelocity(const Vector2d velocity);
/** Get the angular velicity of the body */
double angularVelocity() const;
/** Set the angular velicity of the body */
void setAngularVelocity(double angularVelocity);
/** Get the angular momentum of the body */
double angularMomentum() const;
/** Set the angular momentum of the body */
void setAngularMomentum(double angularMomentum);
/** Get acceleration of the center of mass */
Vector2d acceleration() const { return force()/mass(); }
/** Get angular acceleration of the body */
double angularAcceleration() const { return torque()/inertia(); }
/** Get the force acting on the body */
Vector2d force() const;
/** Get the torque acting on the body */
double torque() const;
/** Get total body mass */
double mass() const;
/** Get the inrtia of the body */
double inertia() const;
/** Get status of drawing of internal items */
bool showInternalItems() const { return _showInternalItems; }
/** Set status of drawing of internal items */
void setShowInternalItems(bool showInternalItems) {
_showInternalItems = showInternalItems; }
/** Get ordered list of particles on the border of the body */
const SoftBodyParticleList& borderParticles();
QString borderParticleNames() const;
void setBorderParticleNames(const QString& borderParticleNames);
void worldItemRemoved(Item* item);
void setWorld(World* world);
protected:
SoftBodyParticleList _borderParticles;
QString _borderParticleNames;
bool _showInternalItems;
};
} // namespace StepCore
#endif
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