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phyzent.h /* Dynamics/Kinematics modeling and simulation library. Copyright (C) 1999 by Michael Alexander Ewert This library is free software; you can redistribute it and/or modify it under the terms of the GNU Library General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This 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 Library General Public License for more details. You should have received a copy of the GNU Library General Public License along with this library; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. */ #ifndef __CT_PHYZENT_H__ #define __CT_PHYZENT_H__ #include "csphyzik/phyztype.h" #include "csphyzik/linklist.h" #include "csphyzik/refframe.h" #include "csphyzik/entity.h" class ctForce; #define DEFAULT_ENTITY_MASS 10.0 #define PHYSICALENTITY_STATESIZE 12 // Rmatrix, x class ctSolver; class ctCollidingContact; class ctPhysicalEntity : public ctEntity { public: /* ** Constructors/destructors/statics */ ctPhysicalEntity (); ctPhysicalEntity( ctReferenceFrame &ref, ctDeltaReferenceFrame &dref ); virtual ~ctPhysicalEntity(); /* ** Member functions */ //********** ODE interface **************** virtual void init_state () { F[0] = 0; F[1] = 0; F[2] = 0; T[0] = 0; T[1] = 0; T[2] = 0; } virtual int get_state_size () { return PHYSICALENTITY_STATESIZE; } virtual int set_state ( real *sa ); virtual int get_state( const real *sa ); virtual int set_delta_state( real *state_array ); virtual void rotate_around_line( ctVector3 &paxis, real ptheta ); virtual void set_pos ( const ctVector3 &px ) { RF.set_offset( px ); } virtual void set_v ( const ctVector3 &pv ); virtual ctVector3 get_v () { return dRF.v; } virtual void set_angular_v ( const ctVector3 &pw ); virtual ctVector3 get_angular_v () { return dRF.w; } ctVector3 get_F () { return F; } ctVector3 get_torque () { return T; } void set_F( const ctVector3 &pF ) { F = pF; } void set_torque( const ctVector3 &pT ) { T = pT; } //void add_force( ctForce *f ){ forces.add_link( f ); } void sum_force ( const ctVector3 &f ) { F += f; } void sum_torque( const ctVector3 &t ){ T += t; } //void remove_force( ctForce *f ){ forces.remove_link( f ); } virtual void apply_given_F( ctForce &frc ); void print_force () {/*cout << "F: " << F*F << "\n";*/ } virtual ctPhysicalEntity *get_collidable_entity () { return this; } virtual void apply_impulse ( ctVector3 impulse_point, ctVector3 impulse_vector ); // virtual real get_impulse_m(){ return DEFAULT_ENTITY_MASS; } // virtual ctMatrix3 get_impulse_I_inv() { // return ctMatrix3( 1.0/get_impulse_m() ); // } virtual void get_impulse_m_and_I_inv ( real *pm, ctMatrix3 *pI_inv, const ctVector3 &impulse_point, const ctVector3 &unit_length_impulse_vector ) { (void)unit_length_impulse_vector; (void)impulse_point; *pm = DEFAULT_ENTITY_MASS; pI_inv->identity(); *pI_inv *= 1.0/DEFAULT_ENTITY_MASS; } const ctMatrix3 &get_R () { return RF.get_R(); } const ctMatrix3 &get_T () { return RF.get_T(); } const ctVector3 &get_pos () { return RF.get_offset(); } const ctVector3 &get_org_world () { return RF.get_offset(); } const ctMatrix3 &get_world_to_this () { return RF.get_parent_to_this(); } const ctMatrix3 &get_this_to_world () { return RF.get_this_to_parent(); } void v_this_to_world ( ctVector3 &pv ) { RF.this_to_world( pv ); } ctVector3 get_v_this_to_world ( ctVector3 &pv ) { ctVector3 pret = pv; RF.this_to_world( pret ); return pret; } ctReferenceFrame *get_RF() { return &RF; } ctDeltaReferenceFrame *get_dRF() { return &dRF; } protected: ctReferenceFrame &RF; ctDeltaReferenceFrame &dRF; ctVector3 F; ctVector3 T; }; class ctSimpleDynamicsSolver; // solved with ctSimpleDynamicsSolver // just a body affected by simple forces class ctDynamicEntity : public ctPhysicalEntity { public: friend class ctSimpleDynamicsSolver; ctDynamicEntity(); ctDynamicEntity( ctReferenceFrame &ref, ctDeltaReferenceFrame &dref ); virtual ~ctDynamicEntity(); virtual void apply_given_F( ctForce &frc ); virtual void set_m ( real pm ); real get_m () { return m; } // virtual real get_impulse_m () { return m; } protected: real m; }; #endif // __CT_PHYZENT_H__ Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000