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qtrigid.h /* Dynamics/Kinematics modeling and simulation library. Copyright (C) 1999 by Michael Alexander Ewert and Noah Gibbs 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_QUATRIGIDBODY_H__ #define __CT_QUATRIGIDBODY_H__ #include "csphyzik/phyztype.h" #include "csphyzik/entity.h" #include "csphyzik/ctquat.h" #include "csgeom/quaterni.h" #define QUATRIGID_STATE_SIZE 13 class ctQuatRigidBodyConnector; class ctQuatRigidBody : public ctEntity { public: ctQuatRigidBody (ctVector3 x = ctVector3(0,0,0), real M = 0); ~ctQuatRigidBody () {} real get_mass () { return mass; } void set_mass (real m) { mass = m; precalculated = false; } ctVector3 get_center () { return pos; } void set_center (ctVector3 x) { pos = x; } ctVector3 get_linear_velocity () { return mom / mass; } void set_linear_velocity (ctVector3 vel) { mom = vel * mass; } ctVector3 get_linear_momentum (void) { return mom; } void set_linear_momentum (ctVector3 newmom) { mom = newmom; } ctQuaternion get_orientation () { return quat; } void set_orientation (ctQuaternion ori) { quat = ori; quat.Normalize(); precalculated = false; } ctVector3 get_rotation() { real angle = 2.0 * acos(quat.r); real fact = angle / sin(angle); return ctVector3(quat.x * fact, quat.y * fact, quat.z*fact); } void set_rotation (ctVector3 rot) { real len = rot.Norm (); if (len <= 3*MIN_REAL) set_orientation(ctQuaternion(1.0f, 0.0f, 0.0f, 0.0f)); else { rot /= len; float sine = (float) sin(len); set_orientation(ctQuaternion((float) cos(len / 2.0f), sine * rot[0], sine * rot[1], sine * rot[2])); } } ctMatrix3 get_R () { Precalculate(); return R; } void set_R (ctMatrix3& new_R) { quat.from_matrix(new_R); precalculated = false; } ctMatrix3 get_Ibody (void) { return Ibody; } void set_Ibody (const ctMatrix3& Ib) { Ibody = Ib; Ibodyinv = Ibody.inverse(); precalculated = false; } ctMatrix3 get_Ibodyinv (void) { return Ibodyinv; } ctMatrix3 get_Iinv (void) { Precalculate(); return Iinv; } ctVector3 get_angular_velocity () { Precalculate(); return omega; } void set_angular_velocity (ctVector3 new_omega) { // Omega = Iinv * ang_mom // Iinv * ang_mom = new_omega // ang_mom = I * new_omega // I = R * Ibody * R^T Precalculate (); ctMatrix3 I(R * Ibody * R.get_transpose()); ang = I * new_omega; precalculated = false; } // Workhorse functions void init_state () { F[0] = F[1] = F[2] = 0.0; T[0] = T[1] = T[2] = 0.0; } int get_state_size () { return QUATRIGID_STATE_SIZE; } int get_state (const float *sa); int set_state (real *sa); int set_delta_state (real *sa); void apply_F (ctVector3 newF) { F += newF; } void apply_T (ctVector3 newT) { T += newT; } // Connector method ctQuatRigidBodyConnector *new_connector (ctVector3 offs); // Shorthand methods, just call other methods inline ctVector3 get_velocity () { return get_linear_velocity(); } inline void set_velocity (ctVector3 vel) { set_linear_velocity(vel); } inline ctVector3 get_omega () { return get_angular_velocity(); } inline void set_omega (ctVector3 new_omega) { set_angular_velocity(new_omega); } protected: void Precalculate (); real mass; ctVector3 pos; ctVector3 mom; ctQuaternion quat; ctVector3 ang; ctVector3 F; ctVector3 T; ctMatrix3 Ibody; bool precalculated; ctMatrix3 Ibodyinv; ctMatrix3 R; ctMatrix3 Iinv; ctVector3 omega; }; #endif // __CT_QUATRIGIDBODY_H__ Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000