Engine directory for ticket #1

Engine/source/T3D/rigid.h

@@ -0,0 +1,100 @@
+//-----------------------------------------------------------------------------
+// Copyright (c) 2012 GarageGames, LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#ifndef _RIGID_H_
+#define _RIGID_H_
+
+#ifndef _PLATFORM_H_
+#include "platform/platform.h"
+#endif
+#ifndef _MPOINT3_H_
+#include "math/mPoint3.h"
+#endif
+#ifndef _MMATRIX_H_
+#include "math/mMatrix.h"
+#endif
+#ifndef _MQUAT_H_
+#include "math/mQuat.h"
+#endif
+
+//----------------------------------------------------------------------------
+
+class Rigid
+{
+public:
+   MatrixF objectInertia;        ///< Moment of inertia
+   MatrixF invObjectInertia;     ///< Inverse moment of inertia
+   MatrixF invWorldInertia;      ///< Inverse moment of inertia in world space
+
+   Point3F force;
+   Point3F torque;
+
+   Point3F linVelocity;          ///< Linear velocity
+   Point3F linPosition;          ///< Current position
+   Point3F linMomentum;          ///< Linear momentum
+   Point3F angVelocity;          ///< Angular velocity
+   QuatF   angPosition;          ///< Current rotation
+   Point3F angMomentum;          ///< Angular momentum
+
+   Point3F centerOfMass;         ///< Center of mass in object space
+   Point3F worldCenterOfMass;    ///< CofM in world space
+   F32 mass;                     ///< Rigid body mass
+   F32 oneOverMass;              ///< 1 / mass
+   F32 restitution;              ///< Collision restitution
+   F32 friction;                 ///< Friction coefficient
+   bool atRest;
+
+private:
+   void translateCenterOfMass(const Point3F &oldPos,const Point3F &newPos);
+
+public:
+   //
+   Rigid();
+   void clearForces();
+   void integrate(F32 delta);
+
+   void updateInertialTensor();
+   void updateVelocity();
+   void updateCenterOfMass();
+
+   void applyImpulse(const Point3F &v,const Point3F &impulse);
+   bool resolveCollision(const Point3F& p,const Point3F &normal,Rigid*);
+   bool resolveCollision(const Point3F& p,const Point3F &normal);
+
+   F32  getZeroImpulse(const Point3F& r,const Point3F& normal);
+   F32  getKineticEnergy();
+   void getOriginVector(const Point3F &r,Point3F* v);
+   void setCenterOfMass(const Point3F &v);
+   void getVelocity(const Point3F &p,Point3F* r);
+   void getTransform(MatrixF* mat);
+   void setTransform(const MatrixF& mat);
+
+   void setObjectInertia(const Point3F& r);
+   void setObjectInertia();
+   void invertObjectInertia();
+
+   bool checkRestCondition();
+   void setAtRest();
+};
+
+
+#endif