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#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,SimdScalar friction,SimdScalar restitution);
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);
void setRestitution(float rest)
{
m_restitution = rest;
}
float getRestitution() const
{
return m_restitution;
}
void setFriction(float frict)
{
m_friction = frict;
}
float getFriction() const
{
return m_friction;
}
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;
SimdScalar m_friction;
SimdScalar m_restitution;
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
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