X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fyoink;a=blobdiff_plain;f=src%2FMoof%2FRigidBody.hh;fp=src%2FMoof%2FRigidBody.hh;h=0000000000000000000000000000000000000000;hp=ad6e33ff67c2135115dfe0b2700bdb863bc99686;hb=831f04d4bc19a390415ac0bbac4331c7a65509bc;hpb=299af4f2047e767e5d79501c26444473bda64c64

diff --git a/src/Moof/RigidBody.hh b/src/Moof/RigidBody.hh
deleted file mode 100644
index ad6e33f..0000000
--- a/src/Moof/RigidBody.hh
+++ /dev/null
@@ -1,316 +0,0 @@
-
-/*]  Copyright (c) 2009-2010, Charles McGarvey  [**************************
-**]  All rights reserved.
-*
-* vi:ts=4 sw=4 tw=75
-*
-* Distributable under the terms and conditions of the 2-clause BSD license;
-* see the file COPYING for a complete text of the license.
-*
-**************************************************************************/
-
-#ifndef _MOOF_RIGIDBODY_HH_
-#define _MOOF_RIGIDBODY_HH_
-
-#include <vector>
-
-#include <boost/bind.hpp>
-#include <boost/function.hpp>
-
-#include <Moof/Entity.hh>
-#include <Moof/Math.hh>
-
-
-namespace Mf {
-
-
-template <int D = 3>
-struct LinearState
-{
-	typedef cml::vector< Scalar, cml::fixed<D> >	Vector;
-	typedef boost::function<const Vector& (const LinearState&)>
-													ForceFunction;
-
-	// primary
-	
-	Vector		position;
-	Vector		momentum;
-
-	// secondary
-
-	Vector		velocity;
-
-	// user
-
-	Vector		force;
-	std::vector<ForceFunction> forces;
-
-	// constant
-	
-	Scalar		mass;
-	Scalar		inverseMass;
-
-
-	void recalculateLinear()
-	{
-		velocity = momentum * inverseMass;
-	}
-
-
-	struct GravityForce
-	{
-		explicit GravityForce(Scalar a = -9.8)
-		{
-			force.zero();
-			acceleration = a;
-		}
-
-		const Vector& operator () (const LinearState& state)
-		{
-			force[1] = state.mass * acceleration;
-			return force;
-		}
-
-	private:
-
-		Vector force;
-		Scalar acceleration;
-	};
-
-
-	void init()
-	{
-		position.zero();
-		momentum.zero();
-
-		velocity.zero();
-
-		force.zero();
-		forces.clear();
-
-		mass = SCALAR(1.0);
-		inverseMass = 1.0 / mass;
-	}
-
-
-	struct Derivative
-	{
-		Vector	velocity;
-		Vector	force;
-
-		Derivative operator*(Scalar dt) const
-		{
-			Derivative derivative;
-			derivative.velocity = dt * velocity;
-			derivative.force = dt * force;
-			return derivative;
-		}
-
-		Derivative operator+(const Derivative& other) const
-		{
-			Derivative derivative;
-			derivative.velocity = velocity + other.velocity;
-			derivative.force = force + other.force;
-			return derivative;
-		}
-	};
-
-
-	Vector getForce() const
-	{
-		Vector f(force);
-
-		for (size_t i = 0; i < forces.size(); ++i)
-		{
-			f += forces[i](*this);
-		}
-
-		return f;
-	}
-
-	void getDerivative(Derivative& derivative, Scalar t) const
-	{
-		derivative.velocity = velocity;
-		derivative.force = getForce();
-	}
-
-	void step(const Derivative& derivative, Scalar dt)
-	{
-		position += dt * derivative.velocity;
-		momentum += dt * derivative.force;
-		recalculateLinear();
-	}
-};
-
-
-struct RotationalState2
-{
-	// primary
-
-	Scalar		orientation;
-	Scalar		angularMomentum;
-
-	// secondary
-
-	Scalar		angularVelocity;
-
-	// constant
-
-	Scalar		inertia;
-	Scalar		inverseInertia;
-
-
-	void recalculateRotational()
-	{
-		angularVelocity = angularMomentum * inertia;
-	}
-
-
-	struct Derivative
-	{
-		Scalar	angularVelocity;
-		Scalar	torque;
-	};
-
-	void step(const Derivative& derivative, Scalar dt)
-	{
-		orientation += dt * derivative.angularVelocity;
-		angularMomentum += dt * derivative.torque;
-		recalculateRotational();
-	}
-};
-
-struct RotationalState3
-{
-	// primary
-
-	Quaternion	orientation;
-	Vector3		angularMomentum;
-
-	// secondary
-
-	Quaternion	spin;
-	Vector3		angularVelocity;
-
-	// constant
-
-	Scalar		inertia;
-	Scalar		inverseInertia;
-
-
-	void recalculateRotational()
-	{
-		angularVelocity = angularMomentum * inertia;
-	}
-};
-
-
-struct State2 : public LinearState<2>, public RotationalState2
-{
-	void recalculate()
-	{
-		recalculateLinear();
-		recalculateRotational();
-	}
-
-	void update(Scalar t, Scalar dt)
-	{
-		rk4<LinearState<2>,LinearState<2>::Derivative>(*this, t, dt);
-	}
-};
-
-struct State3 : public LinearState<3>, public RotationalState3
-{
-	void recalculate()
-	{
-		recalculateLinear();
-		recalculateRotational();
-	}
-
-	void update(Scalar t, Scalar dt)
-	{
-		rk4<LinearState<3>,LinearState<3>::Derivative>(*this, t, dt);
-	}
-};
-
-
-template <class T>
-inline T interpolate(const T& a, const T& b, Scalar alpha)
-{
-	return cml::lerp(a, b, alpha);
-}
-
-template <>
-inline State2 interpolate<State2>(const State2& a, const State2& b,
-								  Scalar alpha)
-{
-	State2 state(b);
-	state.position = interpolate(a.position, b.position, alpha);
-	state.momentum = interpolate(a.momentum, b.momentum, alpha);
-	state.orientation = interpolate(a.orientation, b.orientation, alpha);
-	state.angularMomentum = interpolate(a.angularMomentum,
-										b.angularMomentum, alpha);
-	return state;
-}
-
-template <>
-inline State3 interpolate<State3>(const State3& a, const State3& b,
-								  Scalar alpha)
-{
-	State3 state(b);
-	state.position = interpolate(a.position, b.position, alpha);
-	state.momentum = interpolate(a.momentum, b.momentum, alpha);
-	state.orientation = cml::slerp(a.orientation, b.orientation, alpha);
-	state.angularMomentum = interpolate(a.angularMomentum,
-										b.angularMomentum, alpha);
-	return state;
-}
-
-
-
-/**
- * Interface for anything that can move.
- */
-
-template <class T>
-class RigidBody : public Entity
-{
-protected:
-
-	T	mState;
-	T	mPrevState;
-
-public:
-
-	virtual ~RigidBody() {}
-
-	virtual void update(Scalar t, Scalar dt)
-	{
-		mPrevState = mState;
-		mState.update(t, dt);
-	}
-
-	const T& getState() const
-	{
-		return mState;
-	}
-
-	T getState(Scalar alpha) const
-	{
-		return interpolate(mPrevState, mState, alpha);
-	}
-
-	const T& getLastState() const
-	{
-		return mPrevState;
-	}
-};
-
-typedef RigidBody<State2> RigidBody2;
-typedef RigidBody<State3> RigidBody3;
-
-
-} // namespace Mf
-
-#endif // _MOOF_RIGIDBODY_HH_
-