rigidbody.h

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/*****************************************************************************
 * $Id: rigidbody.h,v 1.4 2003/07/16 11:42:15 schou Exp $
 * Author: Jakob Schou Jensen <schou@sourceforge.net>
 * Licence: GPL
 *
 * Description: Rigid body physics
 *
 ****************************************************************************/

#ifndef RIGIDBODY_H
#define RIGIDBODY_H

#include <adsomath.h>
#include "object.h"

class RigidBody : public Object {
protected:
  float mass;     // mass M
  sqm3f Ibodyinv; // Inverse of Ibody
    
  // State values
  v3f massPos;         // Mass pos (center of mass)
  sqm3f R;        // Rotation matrix
  v3f P;          // Linear momentum
  v3f L;          // Angular momentum
  
  // Derived values
  sqm3f Iinv;     // I(t) inverse
  v3f vel;          // Linear velocity
  v3f omega;      // Angular velocity
  
  // External values
  v3f force;      // Total force
  v3f torque;     // Angular force

public:

  void deStep(float dt);
  void impulse(v3f i, v3f relp);
  void movePoint(v3f r, v3f d);

  sqm3f getRotationMatrix(){ return R; }
  v3f getMassPos(){ return massPos; }

  RigidBody(){
    mass = 1.0;
    Ibodyinv.ident();
    massPos = v3f(0.0,0.0,0.0);
    R.ident();
    P = v3f(0.0,0.0,0.0);
    L = v3f(0.0,0.0,0.0);
  }
  friend class State;
  friend class NetLink;
};

#endif

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