1 files changed, 165 insertions, 0 deletions
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
new file mode 100644
index 00000000000..ec7eb9a8678
--- /dev/null
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
@@ -0,0 +1,165 @@
+#ifndef RIGIDBODY_H
+#define RIGIDBODY_H
+
+#include <vector>
+#include <SimdPoint3.h>
+#include <SimdTransform.h>
+
+class CollisionShape;
+struct MassProps;
+typedef SimdScalar dMatrix3[4*3];
+
+
+/// RigidBody class for RigidBody Dynamics
+/// 
+class RigidBody  {
+public:
+
+	RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping);
+
+	void			proceedToTransform(const SimdTransform& newTrans); 
+	
+	bool			mergesSimulationIslands() const;
+	
+	/// continuous collision detection needs prediction
+	void			predictIntegratedTransform(SimdScalar step, SimdTransform& predictedTransform) const;
+	
+	void			applyForces(SimdScalar step);
+	
+	void			setGravity(const SimdVector3& acceleration);  
+	
+	void			setDamping(SimdScalar lin_damping, SimdScalar ang_damping);
+	
+	CollisionShape*	GetCollisionShape() { return m_collisionShape; }
+	
+	void			setMassProps(SimdScalar mass, const SimdVector3& inertia);
+	
+	SimdScalar		getInvMass() const { return m_inverseMass; }
+	const SimdMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; }
+		
+	void			integrateVelocities(SimdScalar step);
+
+	void			setCenterOfMassTransform(const SimdTransform& xform);
+
+	void			applyCentralForce(const SimdVector3& force)
+	{
+		m_totalForce += force;
+	}
+    
+	const SimdVector3& getInvInertiaDiagLocal()
+	{
+		return m_invInertiaLocal;
+	};
+
+	void	setInvInertiaDiagLocal(const SimdVector3& diagInvInertia)
+	{
+		m_invInertiaLocal = diagInvInertia;
+	}
+
+	void	applyTorque(const SimdVector3& torque)
+	{
+		m_totalTorque += torque;
+	}
+	
+	void	applyForce(const SimdVector3& force, const SimdVector3& rel_pos) 
+	{
+		applyCentralForce(force);
+		applyTorque(rel_pos.cross(force));
+	}
+	
+	void applyCentralImpulse(const SimdVector3& impulse)
+	{
+		m_linearVelocity += impulse * m_inverseMass;
+	}
+	
+  	void applyTorqueImpulse(const SimdVector3& torque)
+	{
+		m_angularVelocity += m_invInertiaTensorWorld * torque;
+
+	}
+	
+	void applyImpulse(const SimdVector3& impulse, const SimdVector3& rel_pos) 
+	{
+		if (m_inverseMass != 0.f)
+		{
+			applyCentralImpulse(impulse);
+			applyTorqueImpulse(rel_pos.cross(impulse));
+		}
+	}
+	
+	void clearForces() 
+	{
+		m_totalForce.setValue(0.0f, 0.0f, 0.0f);
+		m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
+	}
+	
+	void updateInertiaTensor();    
+	
+	const SimdPoint3&     getCenterOfMassPosition() const { return m_worldTransform.getOrigin(); }
+	SimdQuaternion getOrientation() const;
+	
+	const SimdTransform&  getCenterOfMassTransform() const { return m_worldTransform; }
+	const SimdVector3&   getLinearVelocity() const { return m_linearVelocity; }
+	const SimdVector3&    getAngularVelocity() const { return m_angularVelocity; }
+	
+
+	void setLinearVelocity(const SimdVector3& lin_vel);
+	void setAngularVelocity(const SimdVector3& ang_vel) { m_angularVelocity = ang_vel; }
+
+	SimdVector3 getVelocityInLocalPoint(const SimdVector3& rel_pos) const
+	{
+		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
+	}
+
+	void translate(const SimdVector3& v) 
+	{
+		m_worldTransform.getOrigin() += v; 
+	}
+
+	void	SetCollisionShape(CollisionShape* mink);
+
+	void	getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+	int	GetActivationState() const { return m_activationState1;}
+	void SetActivationState(int newState);
+
+
+private:
+	SimdTransform	m_worldTransform;
+	SimdMatrix3x3	m_invInertiaTensorWorld;
+	SimdVector3		m_gravity;	
+	SimdVector3		m_invInertiaLocal;
+	SimdVector3		m_totalForce;
+	SimdVector3		m_totalTorque;
+	SimdQuaternion	m_orn1;
+	
+	SimdVector3		m_linearVelocity;
+	
+	SimdVector3		m_angularVelocity;
+	
+	SimdScalar		m_linearDamping;
+	SimdScalar		m_angularDamping;
+	SimdScalar		m_inverseMass;
+
+
+	CollisionShape*	m_collisionShape;
+
+	
+public:
+	/// for ode solver-binding
+	dMatrix3		m_R;//temp
+	dMatrix3		m_I;
+	dMatrix3		m_invI;
+	int				m_islandTag1;//temp
+	int				m_activationState1;//temp
+	int				m_odeTag;
+	SimdVector3		m_tacc;//temp
+	SimdVector3		m_facc;
+	SimdScalar		m_hitFraction; //time of impact calculation
+
+	int	m_debugBodyId;
+};
+
+
+
+#endif