Changeset 4221 in orxonox.OLD

Timestamp:

May 19, 2005, 1:28:19 AM (19 years ago)

Author:

buerlia

Message:

orxonox/branches/physics: addForce function for rigid bodies; made some small functions inline

Location:

orxonox/branches/physics/src/util/physics

Files:

• i_physics.cc (modified) (3 diffs)
• i_physics.h (modified) (1 diff)

orxonox/branches/physics/src/util/physics/i_physics.cc

@@ -34 +34 @@
    this->mass = 0;
    this->massChildren = 0;
+   this->forceSum = Vector(0, 0, 0);
 }
 
@@ -44 +45 @@
 {
   // delete what has to be deleted here
-}
-
-
-
-void IPhysics::setMass( float mass )
-{
-        this->mass = mass;
-}
-
-float IPhysics::getMass( void ) const
-{
-        return this->mass;
-}
-
-float IPhysics::getTotalMass( void ) const
-{
-        return (this->mass + this->massChildren);
 }
 
@@ -89 +73 @@
         
         
+void IPhysics::addForce( Vector force )
+{
+        forceSum += force;
+}
+
+void IPhysics::addForce(Vector force, Vector grip)
+{
+        // add central force
+        forceSum += force;
+        // add momentum
+        // todo: some vector math
+}
+        
+void IPhysics::tick( float dt )
+{
+        Vector acc = forceSum / ( massChildren + mass );
+        // todo: introduce kinematics
+}

orxonox/branches/physics/src/util/physics/i_physics.h

@@ -19 +19 @@
   virtual ~IPhysics();
   
-  void setMass( float mass );           //!< Set the mass of this node
-  float getMass( void ) const;          //!< Get the mass of this node
-  float getTotalMass( void ) const; //!< Get the sum of the masses of this node and all subnodes
+  inline void setMass( float mass ) { this->mass = mass; };                                     //!< Set the mass of this node
+  inline float getMass( void ) const { return mass; };                                          //!< Get the mass of this node
+  inline float getTotalMass( void ) const { return mass + massChildren; };      //!< Get the sum of the masses of this node and all subnodes
+  void addForce( Vector force );                                                                        //!< Add a central force on this rigid body
+  void addForce( Vector force, Vector grip );                                           //!< Add a decentral force on this rigid body
+  void tick( float dt );                                                                                        //!< Update kinematics, reset force sum
 
  protected:
-  void recalcMass();    //!< Recalculate the mass of the children
-  float mass;                   //!< Mass of this node
-  float massChildren;   //!< Sum of the masses of the children nodes
-  
+  void recalcMass();            //!< Recalculate the mass of the children
+  float mass;                           //!< Mass of this node
+  float massChildren;           //!< Sum of the masses of the children nodes
+  Vector forceSum;                      //!< Total central force for this tick
+  Quaternion momentumSum;       //!< Total momentum in this tick
 
  private: