TAPsPhysicsSupport.cpp

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/******************************************************************************
TAPsPhysicsSupport.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (04/25/2005)
UPDATE          (12/03/2010)
******************************************************************************/
#include "TAPsPhysicsSupport.hpp"
// Using Inclusion Model (i.e. definitions are included in declarations)
//                       (this name.cpp is included in name.hpp)
// Each friend is defined directly inside its declaration.

BEGIN_NAMESPACE_TAPs
//=============================================================================
//-----------------------------------------------------------------------------
template <typename T>
PhysicsSupport<T>::PhysicsSupport ()
    : mPhyProp_tElasticity( 1 )
    , mPhyProp_tMass( 1 )
    , mPhyProp_tVolume( 1 )
    , mPhyProp_vDampingLinearVelocity( 0.01, 0.01, 0.01 )
    , mPhyProp_vDampingAngularVelocity( 0.01, 0.01, 0.01 )
    , mPhyProp_tGravitationalConstant( 9.81 )
#ifdef  TAPs_ADD_RESTING_LEVEL_Y
    , mPhyProp_tRestingLevel( 0 )
#endif//TAPs_ADD_RESTING_LEVEL_Y
{
    #ifdef  TAPs_DEBUG_MODE
    std::cout   << "PhysicsSupport<" << typeid(T).name() << "> default constructor\n";
    #endif//TAPs_DEBUG_MODE
}
//-----------------------------------------------------------------------------
template <typename T>
PhysicsSupport<T>::PhysicsSupport ( const PhysicsSupport<T> & orig )
    : mPhyProp_tElasticity( orig.mPhyProp_tElasticity )
    , mPhyProp_tMass( orig.mPhyProp_tMass )
    , mPhyProp_tVolume( orig.mPhyProp_tVolume )
    , mPhyProp_vCenterOfMass( orig.mPhyProp_vCenterOfMass )
    , mPhyProp_qOrientation( orig.mPhyProp_qOrientation )

    , mPhyProp_mMomentOfInertiaTensor( orig.mPhyProp_mMomentOfInertiaTensor )
    , mPhyProp_mInvMomentOfInertiaTensor( orig.mPhyProp_mInvMomentOfInertiaTensor )

    //, mPhyProp_vLinearMomentum( orig.mPhyProp_vLinearMomentum )
    //, mPhyProp_vAngularMomentum( orig.mPhyProp_vAngularMomentum )
    , mPhyProp_vLinearVelocity( orig.mPhyProp_vLinearVelocity )
    , mPhyProp_vAngularVelocity( orig.mPhyProp_vAngularVelocity )
    , mPhyProp_vLinearAcceleration( orig.mPhyProp_vLinearAcceleration )
    , mPhyProp_vAngularAcceleration( orig.mPhyProp_vAngularAcceleration )

    , mPhyProp_vTotalForce( orig.mPhyProp_vTotalForce )
    , mPhyProp_vTotalTorque( orig.mPhyProp_vTotalTorque )

    , mPhyProp_vDampingLinearVelocity( orig.mPhyProp_vDampingLinearVelocity )
    , mPhyProp_vDampingAngularVelocity( orig.mPhyProp_vDampingAngularVelocity )

    , mPhyProp_tGravitationalConstant( orig.mPhyProp_tGravitationalConstant )
{
    #ifdef  TAPs_DEBUG_MODE
    std::cout   << "PhysicsSupport<" << typeid(T).name() << "> copy constructor\n";
    #endif//TAPs_DEBUG_MODE
}
//-----------------------------------------------------------------------------
// Destructor
template <typename T>
PhysicsSupport<T>::~PhysicsSupport ()
{
    #ifdef  TAPs_DEBUG_MODE
    std::cout   << "PhysicsSupport<" << typeid(T).name() << "> destructor\n";
    #endif//TAPs_DEBUG_MODE
}
//-----------------------------------------------------------------------------
template <typename T>
std::string PhysicsSupport<T>::StrInfo () const
{
    std::stringstream ss;
    ss  << "PhysicsSupport<" << typeid(T).name() << "> ==> "
        << "\n  Elasticity          " << GetPhyPropElasticity()
        << "\n  Mass:               " << GetPhyPropMass()
        << "\n  Volume:             " << GetPhyPropVolume()
        << "\n  Center of mass      " << GetPhyPropCenterOfMass()
        << "\n  Gravitational constant  " << GetPhyPropGravitationalConstant()
        << "\n  Orientation         " << GetPhyPropOrientation()
        //<< "\n    LinearMomentum      " << GetPhyPropLinearMomentum()
        //<< "\n    AngularMomentum     " << GetPhyPropAngularMomentum()
        << "\n  Linear Velocity             " << GetPhyPropLinearVelocity()
        << "\n  Linear Velocity Damping     " << GetPhyPropDampingLinearVelocity()
        << "\n  Angular Velocity            " << GetPhyPropAngularVelocity()
        << "\n  Angular Velocity Damping    " << GetPhyPropDampingAngularVelocity()
        << "\n  Linear Acceleration     " << GetPhyPropLinearAcceleration()
        << "\n  Angular Acceleration    " << GetPhyPropAngularAcceleration()
        << "\n  Total Force             " << GetPhyPropTotalForce()
        << "\n  Total Torque            " << GetPhyPropTotalTorque()
        << "\n  Moment of Inertia               " << GetPhyPropMomentOfInertiaTensor()
        << "\n  Inverse of Moment of Inertia    " << GetPhyPropInvMomentOfInertiaTensor()
        << "\n";
    return ss.str();
}
//-----------------------------------------------------------------------------
// Assignment Operator
template <typename T>
PhysicsSupport<T> & PhysicsSupport<T>::operator= ( PhysicsSupport<T> const & orig )
{
    mPhyProp_tElasticity    = orig.mPhyProp_tElasticity;
    mPhyProp_tMass          = orig.mPhyProp_tMass;
    mPhyProp_tVolume        = orig.mPhyProp_tVolume;
    mPhyProp_vCenterOfMass  = orig.mPhyProp_vCenterOfMass;
    mPhyProp_qOrientation   = orig.mPhyProp_qOrientation;

    mPhyProp_mMomentOfInertiaTensor     = orig.mPhyProp_mMomentOfInertiaTensor;
    mPhyProp_mInvMomentOfInertiaTensor  = orig.mPhyProp_mInvMomentOfInertiaTensor;

    //mPhyProp_vLinearMomentum      = orig.mPhyProp_vLinearMomentum;
    //mPhyProp_vAngularMomentum     = orig.mPhyProp_vAngularMomentum;
    mPhyProp_vLinearVelocity        = orig.mPhyProp_vLinearVelocity;
    mPhyProp_vAngularVelocity       = orig.mPhyProp_vAngularVelocity;
    mPhyProp_vLinearAcceleration    = orig.mPhyProp_vLinearAcceleration;
    mPhyProp_vAngularAcceleration   = orig.mPhyProp_vAngularAcceleration;

    mPhyProp_vTotalForce    = orig.mPhyProp_vTotalForce;
    mPhyProp_vTotalTorque   = orig.mPhyProp_vTotalTorque;

    mPhyProp_vDampingLinearVelocity     = orig.mPhyProp_vDampingLinearVelocity;
    mPhyProp_vDampingAngularVelocity    = orig.mPhyProp_vDampingAngularVelocity;

    mPhyProp_tGravitationalConstant = orig.mPhyProp_tGravitationalConstant;
#ifdef  TAPs_ADD_RESTING_LEVEL_Y
    mPhyProp_tRestingLevel  = orig.mPhyProp_tRestingLevel;
#endif//TAPs_ADD_RESTING_LEVEL_Y

    return *this;
}
//-----------------------------------------------------------------------------
//=============================================================================




//=============================================================================
// Update Physical Properties
//-----------------------------------------------------------------------------
template <typename T>
void PhysicsSupport<T>::AddForce ( Vector3<T> const & Force )
{
    mPhyProp_vTotalForce += Force;
}
//-----------------------------------------------------------------------------
template <typename T>
void PhysicsSupport<T>::AddTorque ( Vector3<T> const & Torque )
{
    mPhyProp_vTotalTorque += Torque;
}
//-----------------------------------------------------------------------------
template <typename T>
void PhysicsSupport<T>::ScaleForce ( Vector3<T> const & Scale )
{
    mPhyProp_vTotalForce[0] *= Scale[0];
    mPhyProp_vTotalForce[1] *= Scale[1];
    mPhyProp_vTotalForce[2] *= Scale[2];
}
//-----------------------------------------------------------------------------
template <typename T>
void PhysicsSupport<T>::ScaleTorque ( Vector3<T> const & Scale )
{
    mPhyProp_vTotalTorque[0] *= Scale[0];
    mPhyProp_vTotalTorque[1] *= Scale[1];
    mPhyProp_vTotalTorque[2] *= Scale[2];
}
//-----------------------------------------------------------------------------
template <typename T>
void PhysicsSupport<T>::AddForceWithLocation (
    Vector3<T> const & Force,           
    Vector3<T> const & AppliedLocation  
)
{
    AddForce( Force );
    AddTorque( AppliedLocation ^ Force );
}
//-----------------------------------------------------------------------------
// Update Physical Properties
//=============================================================================


END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
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