diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/include')
| -rw-r--r-- | source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h | 81 |
1 files changed, 45 insertions, 36 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h index de9d2e20044..c90dfb7296c 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h +++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h @@ -47,7 +47,7 @@ class SM_FhObject; struct SM_ShapeProps { MT_Scalar m_mass; // Total mass MT_Scalar m_radius; // Bound sphere size - MT_Scalar m_inertia; // Inertia, should be a tensor some time + MT_Vector3 m_inertia; // Inertia, should be a tensor some time MT_Scalar m_lin_drag; // Linear drag (air, water) 0 = concrete, 1 = vacuum MT_Scalar m_ang_drag; // Angular drag MT_Scalar m_friction_scaling[3]; // Scaling for anisotropic friction. Component in range [0, 1] @@ -71,14 +71,14 @@ struct SM_MaterialProps { class SM_Object : public SM_MotionState { public: - SM_Object() ; - SM_Object( + SM_Object() ; + SM_Object( DT_ShapeHandle shape, const SM_MaterialProps *materialProps, const SM_ShapeProps *shapeProps, SM_Object *dynamicParent ); - virtual ~SM_Object(); + virtual ~SM_Object(); bool isDynamic() const; @@ -106,6 +106,8 @@ public: void calcXform(); void notifyClient(); + void updateInvInertiaTensor(); + // Save the current state information for use in the // velocity computation in the next frame. @@ -116,20 +118,20 @@ public: void clearForce() ; - void clearMomentum() ; - - void setMargin(MT_Scalar margin) ; - - MT_Scalar getMargin() const ; - - const SM_MaterialProps *getMaterialProps() const ; - + void clearMomentum() ; + + void setMargin(MT_Scalar margin) ; + + MT_Scalar getMargin() const ; + + const SM_MaterialProps *getMaterialProps() const ; + const SM_ShapeProps *getShapeProps() const ; - - void setPosition(const MT_Point3& pos); - void setOrientation(const MT_Quaternion& orn); - void setScaling(const MT_Vector3& scaling); - + + void setPosition(const MT_Point3& pos); + void setOrientation(const MT_Quaternion& orn); + void setScaling(const MT_Vector3& scaling); + /** * set an external velocity. This velocity complements @@ -140,12 +142,12 @@ public: */ - void setExternalLinearVelocity(const MT_Vector3& lin_vel) ; + void setExternalLinearVelocity(const MT_Vector3& lin_vel) ; void addExternalLinearVelocity(const MT_Vector3& lin_vel) ; /** Override the physics velocity */ - void addLinearVelocity(const MT_Vector3& lin_vel); + void addLinearVelocity(const MT_Vector3& lin_vel); void setLinearVelocity(const MT_Vector3& lin_vel); /** @@ -155,8 +157,8 @@ public: * is not subject to friction or damping. */ - void setExternalAngularVelocity(const MT_Vector3& ang_vel) ; - void addExternalAngularVelocity(const MT_Vector3& ang_vel); + void setExternalAngularVelocity(const MT_Vector3& ang_vel) ; + void addExternalAngularVelocity(const MT_Vector3& ang_vel); /** Override the physics angular velocity */ @@ -181,22 +183,24 @@ public: MT_Scalar getInvMass() const; - MT_Scalar getInvInertia() const ; - - void applyForceField(const MT_Vector3& accel) ; - - void applyCenterForce(const MT_Vector3& force) ; - - void applyTorque(const MT_Vector3& torque) ; - - void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) ; - - void applyCenterImpulse(const MT_Vector3& impulse); - - void applyAngularImpulse(const MT_Vector3& impulse); + const MT_Vector3& getInvInertia() const ; + + const MT_Matrix3x3& getInvInertiaTensor() const; - MT_Point3 getWorldCoord(const MT_Point3& local) const; - MT_Point3 getLocalCoord(const MT_Point3& world) const; + void applyForceField(const MT_Vector3& accel) ; + + void applyCenterForce(const MT_Vector3& force) ; + + void applyTorque(const MT_Vector3& torque) ; + + void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) ; + + void applyCenterImpulse(const MT_Vector3& impulse); + + void applyAngularImpulse(const MT_Vector3& impulse); + + MT_Point3 getWorldCoord(const MT_Point3& local) const; + MT_Point3 getLocalCoord(const MT_Point3& world) const; MT_Vector3 getVelocity(const MT_Point3& local) const; @@ -334,6 +338,11 @@ private: SM_FhObject *m_fh_object; // The ray object used for Fh bool m_suspended; // Is this object frozen? + + // Mass properties + MT_Scalar m_inv_mass; // 1/mass + MT_Vector3 m_inv_inertia; // [1/inertia_x, 1/inertia_y, 1/inertia_z] + MT_Matrix3x3 m_inv_inertia_tensor; // Inverse Inertia Tensor }; #endif |