72 lines
2.3 KiB
C++
72 lines
2.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SOLVER_BODY_H
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#define BT_SOLVER_BODY_H
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class btRigidBody;
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMatrix3x3.h"
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ATTRIBUTE_ALIGNED16 (struct) btSolverBody
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{
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btVector3 m_centerOfMassPosition;
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btVector3 m_linearVelocity;
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btVector3 m_angularVelocity;
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btRigidBody* m_originalBody;
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float m_invMass;
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float m_friction;
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float m_angularFactor;
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inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
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{
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velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
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}
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//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
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inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
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{
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m_linearVelocity += linearComponent*impulseMagnitude;
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m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
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}
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void writebackVelocity()
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{
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if (m_invMass)
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{
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m_originalBody->setLinearVelocity(m_linearVelocity);
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m_originalBody->setAngularVelocity(m_angularVelocity);
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}
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}
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void readVelocity()
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{
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if (m_invMass)
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{
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m_linearVelocity = m_originalBody->getLinearVelocity();
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m_angularVelocity = m_originalBody->getAngularVelocity();
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}
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}
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};
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#endif //BT_SOLVER_BODY_H
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