forcetorque.h

Go to the documentation of this file.

/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_DYNAMICS_FORCETORQUE_H
#define SHEEP_DYNAMICS_FORCETORQUE_H

#include "common/math/real.h"
#include "common/math/vector3.h"
#include "rigidbody.h"

namespace sheep {

    //!\todo Make the Evaluate() methods throw a "unimplemented feature"
    //! like exception by default, while still keeping this class abstract
    //! by making the destructor pure-virtual or something. This will make
    //! things simpler when new type of actor (soft bodies and so on) will
    //! be handled by the engine.

    class IForce {  // abstract class
    public:
        inline IForce(const Vector3 &p);

        inline const Vector3 &GetPoint() const;

        virtual Vector3 Evaluate(Real t, const RigidBody *b) const = 0;

    protected:
        Vector3 m_point;
    };

    class ITorque {     // abstract class
    public:
        virtual Vector3 Evaluate(Real t, const RigidBody *b) const = 0;
    };

    // Some classical forces and torques.

    class ConstantForce : public IForce {
    public:
        inline ConstantForce(const Vector3 &p, const Vector3 &f);

        inline virtual Vector3 Evaluate(Real t, const RigidBody *b) const;

    protected:
        Vector3 m_force;
    };

    class ConstantTorque : public ITorque {
    public:
        inline ConstantTorque(const Vector3 &t);

        inline virtual Vector3 Evaluate(Real t, const RigidBody *b) const;

    protected:
        Vector3 m_torque;
    };

    class LinearDampingForce : public IForce {
    public:
        inline LinearDampingForce(Real k);

        inline virtual Vector3 Evaluate(Real t, const RigidBody *b) const;

    protected:
        Real m_k;
    };

    class LinearDampingTorque : public ITorque {
    public:
        inline LinearDampingTorque(Real k);

        inline virtual Vector3 Evaluate(Real t, const RigidBody *b) const;

    protected:
        Real m_k;
    };

#include "forcetorque.inl"

}

#endif  // !SHEEP_DYNAMICS_FORCETORQUE_H

---