mirror of
https://github.com/jmarshall23/DoomRTX.git
synced 2026-08-12 08:11:10 +02:00
Justin Marshall
50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
#include "precompiled.h"
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#pragma hdrstop
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#include "prey_local.h"
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CLASS_DECLARATION( idPhysics_RigidBody, hhPhysics_RigidBodySimple )
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END_CLASS
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/*
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================
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SimpleRigidBodyDerivatives
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================
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*/
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void SimpleRigidBodyDerivatives( const float t, const void *clientData, const float *state, float *derivatives ) {
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const hhPhysics_RigidBodySimple *p = (hhPhysics_RigidBodySimple *) clientData;
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rigidBodyIState_t *s = (rigidBodyIState_t *) state;
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// NOTE: this struct should be build conform rigidBodyIState_t
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struct rigidBodyDerivatives_s {
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idVec3 linearVelocity;
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idMat3 angularMatrix;
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idVec3 force;
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idVec3 torque;
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} *d = (struct rigidBodyDerivatives_s *) derivatives;
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// derivatives
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d->linearVelocity = p->inverseMass * s->linearMomentum;
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d->angularMatrix.Zero();
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//d->angularMatrix = SkewSymmetric( vec3_zero ) * s->orientation;
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d->force = - p->linearFriction * s->linearMomentum + p->current.externalForce;
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d->torque.Zero();
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}
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/*
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================
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hhPhysics_RigidBodySimple::hhPhysics_RigidBodySimple
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================
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*/
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hhPhysics_RigidBodySimple::hhPhysics_RigidBodySimple() {
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SAFE_DELETE_PTR( integrator );
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integrator = new idODE_Euler( sizeof(rigidBodyIState_t) / sizeof(float), SimpleRigidBodyDerivatives, this );
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}
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/*
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================
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hhPhysics_RigidBodySimple::Integrate
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================
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*/
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void hhPhysics_RigidBodySimple::Integrate( const float deltaTime, rigidBodyPState_t &next ) {
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idPhysics_RigidBody::Integrate( deltaTime, next );
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} |