source: orxonox.OLD/orxonox/branches/buerli/src/IPhys.cc @ 3196

/* 
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   This program 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, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Adrian Buerli
*/

#include <iostream>

#include "IPhys.h"
#include "stdincl.h"

using namespace std;

IPhys::IPhys ()
{
}

IPhys::~IPhys ()
{
}

// Simulation
void IPhys::simIterate(Uint32 deltaT){
        Vector Accel;
        switch (behav) {
        case B_MASS_POINT:
                Accel = resForce / m;
                vel = vel + (Accel * deltaT);
                pos = pos + (vel * deltaT);
        break;
        case B_RIGID_BODY:
        break;
        case B_ELAST_BODY:
        break;
        case I_SPRING_LINEAR:
                
        break;
        case I_DMPSPR_LINEAR:
        break;
        case I_SPRING_MOMENTUM:
        break;
        case I_DMPSPR_MOMENTUM:
        break;
        case F_GRAVITY:
        break;
        case F_HOVER:
        break;
        case F_SHOCKWAVE:
        break;
        case F_BEAM:
        break;
        default:;
        }
        resForce = Vector(0,0,0);
};

        
// Exertion of external forces
void IPhys::exertForce( Vector force ){
        resForce = resForce + force;
};

void IPhys::exertMomentum( Vector Momentum ){
        resMomentum = resMomentum + Momentum;
};

// set attributes       
void IPhys::setBehaviour( IPHYS_BEHAVIOUR desiredBehaviour ){
        behav = desiredBehaviour;
};

void IPhys::setBody( float mass ){
        m = mass;
};

void IPhys::setBody( float mass, float inertMoment[] ){
        m = mass;
        //inertM = inertMoment;
};

void IPhys::setBody( float mass, float inertMoment[], float YoungsModulus ){
        m = mass;
        //inertM = inertMoment;
        YE = YoungsModulus;
};
        
void IPhys::setMounts( WorldEntity *point1, WorldEntity *point2 ){
        mounts[0] = point1;
        mounts[1] = point2;
};

void IPhys::setSpring( float neutralLength, float springConst ){
        spNeutralL = neutralLength;
        spConst = springConst;
};

void IPhys::setSpring( float neutralLength, float springConst, float damping ){
        spNeutralL = neutralLength;
        spConst = springConst;
        dmp = damping;
};

void IPhys::setSpring( Quaternion neutralOrientation, float springConst ){
        mspNeutralOri = neutralOrientation;
        spConst = springConst;
};
void IPhys::setSpring( Quaternion neutralOrientation, float springConst, float damping ){
        mspNeutralOri = neutralOrientation;
        spConst = springConst;
        dmp = damping;
};