[Teleus-cvs] teleus/src/math mass.cpp,1.5,1.6 mass.hpp,1.3,1.4

[Daniel R. <sp...@us...>]

Update of /cvsroot/teleus/teleus/src/math
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15591/src/math

Modified Files:
	mass.cpp mass.hpp 
Log Message:
Created a new class called Mass that extends PointMass.  Mass gives PointMass a
volume and rotational component.

Index: mass.cpp
===================================================================
RCS file: /cvsroot/teleus/teleus/src/math/mass.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** mass.cpp	25 Feb 2004 06:34:00 -0000	1.5
--- mass.cpp	25 May 2004 23:01:25 -0000	1.6
***************
*** 26,32 ****
--- 26,34 ----
  
  #include <string>
+ #include <cmath>
  #include "mass.hpp"
  #include "physics.hpp"
  #include "vector.hpp"
+ #include "util/debugrecord.hpp"
  #include "debug.hpp"
  
[...1450 lines suppressed...]
   * \file mass.cpp
!  * \brief Source file for PointMass
   */
  
  /**
   * \file mass.hpp
!  * \brief Header file for PointMass
   */
  
--- 1557,1566 ----
  /**
   * \file mass.cpp
!  * \brief Source file for PointMass and Mass
   */
  
  /**
   * \file mass.hpp
!  * \brief Header file for PointMass and Mass
   */
  

Index: mass.hpp
===================================================================
RCS file: /cvsroot/teleus/teleus/src/math/mass.hpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** mass.hpp	25 Feb 2004 02:23:26 -0000	1.3
--- mass.hpp	25 May 2004 23:01:25 -0000	1.4
***************
*** 30,43 ****
  
  #include "vector.hpp"
  
  namespace teleus {
  namespace math {
  
  class PointMass {
  
  	protected:
  		double mMass;
! 		Vector3d mPosition;
! 		Vector3d mVelocity;
  
  	public:
--- 30,48 ----
  
  #include "vector.hpp"
+ #include "matrix.hpp"
  
  namespace teleus {
  namespace math {
  
+ 
  class PointMass {
  
  	protected:
+ 
  		double mMass;
! 		Vector3d mPosition;		// In world coordinates
! 		Vector3d mLastPosition;	// In world coordinates
! 		Vector3d mVelocity;		// In world coordinates
! 		Vector3d mNetForce;		// In world coordinates
  
  	public:
***************
*** 50,61 ****
  		virtual void updatePhysics(double);
  
  		const Vector3d& pos() const;
  		void setPos (const Vector3d&);
  
  		const Vector3d& vel() const;
  		void setVel (const Vector3d&);
  
! 		double mass() const;
! 		void setMass (double);
  
  		const PointMass& operator= (const PointMass&);
--- 55,73 ----
  		virtual void updatePhysics(double);
  
+ 		double mass() const;
+ 		void setMass (double);
+ 
  		const Vector3d& pos() const;
  		void setPos (const Vector3d&);
+ 		const Vector3d& lastPos () const;
  
  		const Vector3d& vel() const;
+ 		const float speed() const;
  		void setVel (const Vector3d&);
  
! 		const Vector3d& netForce() const;
! 		void setForces (const Vector3d&);
! 		void addForce (const Vector3d&);
! 		void resetForces ();
  
  		const PointMass& operator= (const PointMass&);
***************
*** 64,67 ****
--- 76,155 ----
  };
  
+ class Mass : public PointMass{
+ 
+ 	protected:
+ 
+ 		Tensor mInertia;	// In self coordinates
+ 		Tensor mInertiaInv;	// In self coordinates
+ 
+ 		Vector3d mAngVelocity;		// In self coordinates
+ 		Vector3d mOrientation;		// In self coordinates
+ 		Quaternion mRotation;		// In world coordinates
+ 		Vector3d mNetTorqueBody;	// In self coordinates
+ 		Vector3d mNetTorqueWorld;	// In world coordinates
+ 		Vector3d mNetForceBody; 	// In self coordinates
+ 
+ 		Vector3d mForwardVector;	// In world coordinates
+ 		Vector3d mRightVector;		// In world coordinates
+ 		Vector3d mUpVector;			// In world coordinates
+ 
+ 		float mRadius;
+ 		float mLength;
+ 		float mWidth;
+ 		float mHeight;
+ 
+ 	public:
+ 
+ 		Mass ();
+ 		Mass (double, const Vector3d&, const Vector3d&,
+ 			const Tensor&, const Vector3d&, const Quaternion&,
+ 			float, float, float, float);
+ 		Mass (const PointMass&);
+ 		//Mass (const Mass&);
+ 
+ 		virtual void updatePhysics(double);
+ 
+ 		const Tensor& inertia () const;
+ 		void setInertia (const Tensor&);
+ 		void setInertia (float f11, float f22, float f33);
+ 
+ 		const Tensor& inertiaInverse() const;
+ 		void setInertiaInverse (const Tensor&);
+ 
+ 		const Vector3d& orientation () const;
+ 		void setOrientation (const Vector3d&);
+ 
+ 		const Quaternion& rotation () const;
+ 		void setRotation (const Quaternion&);
+ 		void setRotation (double r, double p, double y);
+ 
+ 		const Vector3d& angVelocity () const;
+ 		void setAngVelocity (const Vector3d&);
+ 
+ 		const Vector3d& netTorque () const;
+ 		void addForceBody (const Vector3d&, const Vector3d&);
+ 		void addForceWorld (const Vector3d&, const Vector3d&);
+ 		void resetForces ();
+ 
+ 		const Vector3d& forward() const;
+ 		const Vector3d& right() const;
+ 		const Vector3d& up() const;
+ 
+ 		float radius() const;
+ 		void setRadius (float);
+ 
+ 		float length() const;
+ 		void setLength (float);
+ 
+ 		float width() const;
+ 		void setWidth (float);
+ 
+ 		float height() const;
+ 		void setHeight(float);
+ 
+ 		void setDimensions(float, float, float);
+ 
+ };
+ 
  
  } // END NAMESPACE math