RigidBody.h

/***************************************************************************
 *   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                                      *
 *                                                                         *
 ***************************************************************************/

#ifndef OPENCAL_RIGIDBODY_H
#define OPENCAL_RIGIDBODY_H

// Includes
#include <OpenCAL/global.h>
#include <OpenCAL/PhysicalObject.h>
#include <OpenCAL/Rigid.h>

#include <OpenCAL/Matrix33.h>
using OpenCAL::Utils::Matrix33;


namespace OpenCAL
{
    // Forward declarations

    class OPENCAL_API RigidBody: public PhysicalObject, public Rigid
    {
    protected:
        // Member variables
        Vector3 m_angularMomentum, m_torque;
        Matrix33 m_inertia, m_invInertia; 

        float m_volume;

    public:
        // Constructors and destructor
        RigidBody(System *parent, float mass = 1.0);
        virtual ~RigidBody();

        // Get functions
        const Vector3 &getAngularMomentum() const { return m_angularMomentum; }
        Vector3 *getAngularMomentumP() { return &m_angularMomentum; }
        const Vector3 &getTorque() const { return m_torque; }
        Vector3 *getTorqueP() { return &m_torque; }
        const Matrix33 &getInvInertia() const { return m_invInertia; }
        Matrix33 *getInvInertiaP() { return &m_invInertia; }

        // Set functions
        void setTorque(const Vector3 &torque) { m_torque = torque; }
        void addTorque(const Vector3 &torque) { m_torque += torque; }

        Vector3 getAngularVelocity() const;
        void setAngularVelocity(const Vector3 &velocity);

        // Force functions
        virtual void addForce(const Vector3 &force, const Vector3 &position);

        virtual void initialize();

        virtual void calculateVolume() = 0;
        virtual void calculateInversedInertia() = 0;

        // State functions
        virtual void addToState(PhaseSpace *state);
        virtual void addToDerivative(PhaseSpace *deriv);
        virtual void fromState(PhaseSpace *state);

        // Other functions
        virtual void disable();
/*
#ifdef USE_OPENGL
        virtual void drawGL();
#endif // USE_OPENGL
*/
    };
}

#endif // OPENCAL_RIGIDBODY_H

---