toxic: forcetorque.inl Source File

00001 /*
00002     Sheep - A Rigid Body Dynamics Engine
00003     Copyright (C) 2001-2004 Francois Beaune
00004     Contact: http://toxicengine.sourceforge.net/
00005 
00006     This file is part of Sheep.
00007 
00008     Sheep is free software; you can redistribute it and/or modify
00009     it under the terms of the GNU General Public License as published by
00010     the Free Software Foundation; either version 2 of the License, or
00011     (at your option) any later version.
00012 
00013     Sheep is distributed in the hope that it will be useful,
00014     but WITHOUT ANY WARRANTY; without even the implied warranty of
00015     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016     GNU General Public License for more details.
00017 
00018     You should have received a copy of the GNU General Public License
00019     along with Sheep; if not, write to the Free Software
00020     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021 */
00022 
00023 inline
00024 IForce::IForce(const Vector3 &p)
00025 : m_point(p) {}
00026 
00027 inline
00028 const Vector3 &IForce::GetPoint() const {
00029     return m_point;
00030 }
00031 
00032 inline
00033 ConstantForce::ConstantForce(const Vector3 &p, const Vector3 &f)
00034 : IForce(p), m_force(f) {}
00035 
00036 inline
00037 Vector3 ConstantForce::Evaluate(Real t, const RigidBody *b) const {
00038     return m_force;
00039 }
00040 
00041 inline
00042 ConstantTorque::ConstantTorque(const Vector3 &t)
00043 : m_torque(t) {}
00044 
00045 inline
00046 Vector3 ConstantTorque::Evaluate(Real t, const RigidBody *b) const {
00047     return m_torque;
00048 }
00049 
00050 inline
00051 LinearDampingForce::LinearDampingForce(Real k)
00052 : IForce(0), m_k(k) {}
00053 
00054 inline
00055 Vector3 LinearDampingForce::Evaluate(Real t, const RigidBody *b) const {
00056     return - m_k * b->GetLinearVelocity();
00057 }
00058 
00059 inline
00060 LinearDampingTorque::LinearDampingTorque(Real k)
00061 : m_k(k) {}
00062 
00063 inline
00064 Vector3 LinearDampingTorque::Evaluate(Real t, const RigidBody *b) const {
00065     return - m_k * b->GetAngularVelocity();
00066 }