/*
* \brief Update all simulation objects in the world
*/
void CSpaghettiRigidBody::UpdateVelocity(
const CSpaghettiWorld *world,
const float deltaTime //!< Delta time (The amount of time past since the last update)
)
{
// Nothing to update if he rigid body is static or disabled
if (m_flags.isStatic || !m_flags.isEnabled)
return;
// add gravity
AddForceAtPoint(world->GetGravity(), m_position);
// update velocity
m_velocity = m_velocity + (m_force * deltaTime);
// update the position of the body
m_lastPosition = m_position;
m_position = m_position + (m_velocity * deltaTime);
// update angular momentum
m_angularMomentum = m_angularMomentum + (m_torque * deltaTime);
m_angularMomentum *= 0.95f;
UpdateInertiaTensor();
UpdateAngularVelocity();
// construct the skew matrix
Ogre::Matrix3 skewMatrix;
skewMatrix[0][0] = 0.0f;
skewMatrix[0][1] = -m_angularVelocity.z * 0.17f;
skewMatrix[0][2] = m_angularVelocity.y * 0.17f;
skewMatrix[1][0] = m_angularVelocity.z * 0.17f;
skewMatrix[1][1] = 0.0f;
skewMatrix[1][2] = -m_angularVelocity.x * 0.17f;
skewMatrix[2][0] = -m_angularVelocity.y * 0.17f;
skewMatrix[2][1] = m_angularVelocity.x * 0.17f;
skewMatrix[2][2] = 0.0f;
// update rotation matrix
m_rotation = m_rotation + ((skewMatrix * deltaTime) * m_rotation);
// update and normalize the quaternion
m_quaternion.FromRotationMatrix(m_rotation);
m_quaternion.normalise();
// stop it crashing...
if (m_quaternion.isNaN())
{
m_quaternion = Ogre::Quaternion::IDENTITY;
m_rotation = Ogre::Matrix3::IDENTITY;
}
// transform the bounding box data
m_bounds->Transform(m_position, m_quaternion);
// Zero out force and torque
m_force = Ogre::Vector3::ZERO;
m_torque = Ogre::Vector3::ZERO;
}
void RigidBody::AddForceAtBodyPoint(const Vector3& force, const Point3& point)
{
Point3 pointInWorldSpace;
GetPointInWorldSpace(point, &pointInWorldSpace);
AddForceAtPoint(force, pointInWorldSpace);
}
