RigidBodyPoint.cpp

/***************************************************************************
 *   This file is part of OpenCAL: Open Computer Animation Library         *
 *   I created OpenCAL as my master's thesis Computer Science (multimedia) *
 *   at the tUL university in Diepenbeek, Belgium                          *
 *                                                                         *
 *   Copyright (C) 2003-2004 by Jeroen Dierckx                             *
 *   jeroen.dierckx@student.luc.ac.be                                      *
 *                                                                         *
 ***************************************************************************/

// Includes
#include "RigidBodyPoint.h"
#include <OpenCAL/System.h>
#include <OpenCAL/Renderer.h>
#include <OpenCAL/RigidBody.h>
using namespace OpenCAL;

using namespace std;


/******************************
* Constructors and destructor *
******************************/

RigidBodyPoint::RigidBodyPoint(RigidBody *object, const Vector3 &bodyPosition)
: PhysicalObject(object->getParent()), m_object(object), m_bodyPosition(bodyPosition)
{
    // Don't draw this by default
    m_draw = false;
    m_oneOverMass = 0.0f;
}

RigidBodyPoint::~RigidBodyPoint()
{
}


/******************
* Other functions *
******************/

void RigidBodyPoint::addForce(const Vector3 &force)
{
    m_object->addForce(force, m_bodyPosition);
}

void RigidBodyPoint::render()
{
    Renderer *renderer = m_parent->getRenderer();
    if(!renderer) return;

    renderer->renderPoint(getPosition(), 2.0f);
}

void RigidBodyPoint::calcPosition() const
{
    m_position = m_bodyPosition.rotated(m_object->getRotation()) + m_object->getPosition();
}

void RigidBodyPoint::calcVelocity() const
{
    // Get the rotation matrix
    Matrix33 rot = m_object->getRotation().normalized().toMatrix33();

    // Get the inversed inertia tensor (in world coördinates)
    Matrix33 invInertia = rot * m_object->getInvInertia() * rot.transposed();

    // Get the angular velocity
    Vector3 omega = invInertia * m_object->getAngularMomentum();

    // Calculate the velocity
    m_velocity = omega.crossProduct(m_bodyPosition) + m_object->getVelocity();
}

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