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PhysicsObject.c File Reference

#include <math.h>
#include <assert.h>
#include <stdio.h>
#include "genesis.h"
#include "ram.h"
#include "matrix33.h"
#include "quatern.h"
#include "PhysicsObject.h"

Go to the source code of this file.

Compounds

struct  gePhysicsObject
struct  gePhysicsObject_Config

Typedefs

typedef gePhysicsObject gePhysicsObject

Functions

GENESISAPI gePhysicsObject
*GENESISCC 		gePhysicsObject_Create (const geVec3d *StartLocation, geFloat mass, geBoolean IsAffectedByGravity, geBoolean RespondsToForces, geFloat linearDamping, geFloat angularDamping, const geVec3d *Mins, const geVec3d *Maxs, geFloat physicsScale)
GENESISAPI geBoolean GENESISCC gePhysicsObject_Destroy (gePhysicsObject **pPhysob)
GENESISAPI geBoolean GENESISCC gePhysicsObject_ApplyGlobalFrameForce (gePhysicsObject *pod, geVec3d *force, geVec3d *radiusVector, geBoolean isAppliedForce, int configIndex)
GENESISAPI geBoolean GENESISCC gePhysicsObject_ApplyGlobalFrameImpulse (gePhysicsObject *pPhysob, geVec3d *pImpulse, geVec3d *pRadVec, int configIndex)
GENESISAPI geBoolean GENESISCC gePhysicsObject_ComputeForces (gePhysicsObject *pod, int configIndex)
GENESISAPI geBoolean GENESISCC gePhysicsObject_Integrate (gePhysicsObject *pod, geFloat dt, int sourceConfigIndex)
GENESISAPI geFloat GENESISCC gePhysicsObject_GetMass (const gePhysicsObject *po)
GENESISAPI void GENESISCC gePhysicsObject_SetMass (gePhysicsObject *po, geFloat mass)
GENESISAPI geFloat GENESISCC gePhysicsObject_GetOneOverMass (const gePhysicsObject *po)
GENESISAPI void GENESISCC gePhysicsObject_GetXForm (const gePhysicsObject *po, geXForm3d *xform, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetXForm (gePhysicsObject *po, const geXForm3d *xform, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetXFormInEditorSpace (const gePhysicsObject *po, geXForm3d *xform, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetOriginalLocation (const gePhysicsObject *po, geVec3d *loc)
GENESISAPI void GENESISCC gePhysicsObject_SetOriginalLocation (gePhysicsObject *po, const geVec3d *loc)
GENESISAPI void GENESISCC gePhysicsObject_GetLocation (const gePhysicsObject *po, geVec3d *Location, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetLocationInEditorSpace (const gePhysicsObject *po, geVec3d *loc, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetLinearVelocity (const gePhysicsObject *po, geVec3d *vel, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetLinearVelocity (gePhysicsObject *po, const geVec3d *vel, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetAngularVelocity (const gePhysicsObject *po, geVec3d *vel, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetAngularVelocity (gePhysicsObject *po, const geVec3d *vel, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetForce (const gePhysicsObject *po, geVec3d *force, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetForce (gePhysicsObject *po, const geVec3d *force, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetTorque (const gePhysicsObject *po, geVec3d *torque, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetTorque (gePhysicsObject *po, const geVec3d *torque, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetAppliedForce (const gePhysicsObject *po, geVec3d *force, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetAppliedForce (gePhysicsObject *po, const geVec3d *force, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetAppliedTorque (const gePhysicsObject *po, geVec3d *torque, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetAppliedTorque (gePhysicsObject *po, const geVec3d *torque, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_ClearForce (gePhysicsObject *po, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_ClearTorque (gePhysicsObject *po, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_ClearAppliedForce (gePhysicsObject *po, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_ClearAppliedTorque (gePhysicsObject *po, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_IncForce (gePhysicsObject *po, const geVec3d *forceInc, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_IncTorque (gePhysicsObject *po, const geVec3d *torqueInc, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_IncAppliedForce (gePhysicsObject *po, const geVec3d *forceInc, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_IncAppliedTorque (gePhysicsObject *po, const geVec3d *torqueInc, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetOrientation (const gePhysicsObject *po, geQuaternion *orient, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_SetOrientation (gePhysicsObject *po, const geQuaternion *orient, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensor (const gePhysicsObject *po, Matrix33 *iTensor)
GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensorInverse (const gePhysicsObject *po, Matrix33 *iTensorInv)
GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensorInPhysicsSpace (const gePhysicsObject *pPhysob, Matrix33 *pITensor, int configIndex)
GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensorInverseInPhysicsSpace (const gePhysicsObject *pPhysob, Matrix33 *pITensorInv, int configIndex)
GENESISAPI geBoolean GENESISCC gePhysicsObject_IsAffectedByGravity (const gePhysicsObject *po)
GENESISAPI void GENESISCC gePhysicsObject_SetIsAffectedByGravity (gePhysicsObject *po, geBoolean flag)
GENESISAPI geBoolean GENESISCC gePhysicsObject_RespondsToForces (const gePhysicsObject *po)
GENESISAPI void GENESISCC gePhysicsObject_SetRespondsToForces (gePhysicsObject *po, geBoolean flag)
GENESISAPI geFloat GENESISCC gePhysicsObject_GetLinearDamping (const gePhysicsObject *po)
GENESISAPI void GENESISCC gePhysicsObject_SetLinearDamping (gePhysicsObject *po, geFloat linearDamping)
GENESISAPI geFloat GENESISCC gePhysicsObject_GetAngularDamping (const gePhysicsObject *po)
GENESISAPI void GENESISCC gePhysicsObject_SetAngularDamping (gePhysicsObject *po, geFloat angularDamping)
GENESISAPI void GENESISCC gePhysicsObject_SetActiveConfig (gePhysicsObject *pPhysob, int configIndex)
GENESISAPI int GENESISCC gePhysicsObject_GetActiveConfig (gePhysicsObject *pPhysob)
GENESISAPI void GENESISCC gePhysicsObject_SetPhysicsScale (gePhysicsObject *pPhysob, geFloat scale)
GENESISAPI geFloat GENESISCC gePhysicsObject_GetPhysicsScale (gePhysicsObject *pPhysob)

Typedef Documentation

typedef struct gePhysicsObject gePhysicsObject
 

Function Documentation

GENESISAPI geBoolean GENESISCC gePhysicsObject_ApplyGlobalFrameForce (  gePhysicsObject *  pod,
geVec3d *  force,
geVec3d *  radiusVector,
geBoolean  isAppliedForce,
int  configIndex
) 
 

Definition at line 178 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedForce, gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, gePhysicsObject_Config::force, GE_TRUE, geBoolean, GENESISAPI, GENESISCC, geVec3d_Add(), geVec3d_CrossProduct(), NULL, and gePhysicsObject_Config::torque.

Referenced by gePhysicsSystem_EnforceConstraints(), PhysicsObject_Control(), and PhysicsObject_Trigger(). 

00180 {
00181         gePhysicsObject_Config* pConfig;
00182         geVec3d torqueToAdd;
00183 
00184         assert(pod != NULL);
00185         assert(force != NULL);
00186         assert(radiusVector != NULL);
00187         assert( configIndex >= 0 );
00188         assert( configIndex <  2 );
00189 
00190         pConfig = &pod->configs[configIndex];
00191 
00192         if (! isAppliedForce)
00193         {
00194                 geVec3d_Add(force, &pConfig->force, &pConfig->force);
00195 
00196                 geVec3d_CrossProduct(radiusVector, force, &torqueToAdd);
00197                 geVec3d_Add(&torqueToAdd, &pConfig->torque, &pConfig->torque);
00198         }
00199 
00200         else
00201         {
00202                 geVec3d_Add(force, &pConfig->appliedForce, &pConfig->appliedForce);
00203 
00204                 geVec3d_CrossProduct(radiusVector, force, &torqueToAdd);
00205                 geVec3d_Add(&torqueToAdd, &pConfig->appliedTorque, &pConfig->appliedTorque);
00206         }
00207 
00208         return GE_TRUE;
00209 }

GENESISAPI geBoolean GENESISCC gePhysicsObject_ApplyGlobalFrameImpulse (  gePhysicsObject *  pPhysob,
geVec3d *  pImpulse,
geVec3d *  pRadVec,
int  configIndex
) 
 

Definition at line 212 of file PhysicsObject.c.

References gePhysicsObject_Config::angularVelocity, gePhysicsObject::configs, GE_TRUE, geBoolean, GENESISAPI, GENESISCC, geVec3d_Add(), geVec3d_CrossProduct(), geVec3d_Scale(), gePhysicsObject::inertiaTensorInverse, gePhysicsObject_Config::linearVelocity, Matrix33_ExtractFromXForm3d(), Matrix33_GetTranspose(), Matrix33_MultiplyVec3d(), NULL, gePhysicsObject::oneOverMass, R, and gePhysicsObject_Config::xform. 

00217 {
00218         gePhysicsObject_Config* pConfig;
00219         Matrix33 R, Rt;
00220         geVec3d rCrossRW, rCrossRL, dv, dw;
00221         assert( pPhysob  != NULL );
00222         assert( pImpulse != NULL );
00223         assert( pRadVec  != NULL );
00224         assert( configIndex >= 0 );
00225         assert( configIndex <  2 );
00226 
00227         pConfig = &pPhysob->configs[configIndex];
00228 
00229         geVec3d_Scale(pImpulse, pPhysob->oneOverMass, &dv);
00230         geVec3d_Add(&dv, &pConfig->linearVelocity, &pConfig->linearVelocity);
00231 
00232         geVec3d_CrossProduct(pRadVec, pImpulse, &rCrossRW);
00233 
00234         Matrix33_ExtractFromXForm3d(&pConfig->xform, &R);
00235         Matrix33_GetTranspose(&R, &Rt);
00236 
00237         Matrix33_MultiplyVec3d(&Rt, &rCrossRW, &rCrossRL);
00238         Matrix33_MultiplyVec3d(&pPhysob->inertiaTensorInverse, &rCrossRL, &dw);
00239         geVec3d_Add(&dw, &pConfig->angularVelocity, &pConfig->angularVelocity);
00240 
00241         return GE_TRUE;
00242 }

GENESISAPI void GENESISCC gePhysicsObject_ClearAppliedForce (  gePhysicsObject *  po,
int  configIndex
) 
 

Definition at line 640 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedForce, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Clear(), and NULL.

Referenced by gePhysicsSystem_Iterate(). 

00641 {
00642         assert(po != NULL);
00643         assert( configIndex >= 0 );
00644         assert( configIndex <  2 );
00645 
00646         geVec3d_Clear(&po->configs[configIndex].appliedForce);
00647 }

GENESISAPI void GENESISCC gePhysicsObject_ClearAppliedTorque (  gePhysicsObject *  po,
int  configIndex
) 
 

Definition at line 649 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Clear(), and NULL.

Referenced by gePhysicsSystem_Iterate(). 

00650 {
00651         assert(po != NULL);
00652         assert( configIndex >= 0 );
00653         assert( configIndex <  2 );
00654 
00655         geVec3d_Clear(&po->configs[configIndex].appliedTorque);
00656 }

GENESISAPI void GENESISCC gePhysicsObject_ClearForce (  gePhysicsObject *  po,
int  configIndex
) 
 

Definition at line 622 of file PhysicsObject.c.

References gePhysicsObject::configs, gePhysicsObject_Config::force, GENESISAPI, GENESISCC, geVec3d_Clear(), and NULL. 

00623 {
00624         assert(po != NULL);
00625         assert( configIndex >= 0 );
00626         assert( configIndex <  2 );
00627 
00628         geVec3d_Clear(&po->configs[configIndex].force);
00629 }

GENESISAPI void GENESISCC gePhysicsObject_ClearTorque (  gePhysicsObject *  po,
int  configIndex
) 
 

Definition at line 631 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Clear(), NULL, and gePhysicsObject_Config::torque. 

00632 {
00633         assert(po != NULL);
00634         assert( configIndex >= 0 );
00635         assert( configIndex <  2 );
00636 
00637         geVec3d_Clear(&po->configs[configIndex].torque);
00638 }

GENESISAPI geBoolean GENESISCC gePhysicsObject_ComputeForces (  gePhysicsObject *  pod,
int  configIndex
) 
 

Definition at line 244 of file PhysicsObject.c.

References gePhysicsObject::angularDamping, gePhysicsObject_Config::angularVelocity, gePhysicsObject_Config::appliedForce, gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, gePhysicsObject_Config::force, GE_TRUE, geBoolean, GENESISAPI, GENESISCC, geVec3d_Add(), geVec3d_Clear(), geVec3d_Scale(), geVec3d_Set(), gePhysicsObject::isAffectedByGravity, gePhysicsObject::linearDamping, gePhysicsObject_Config::linearVelocity, gePhysicsObject::mass, NULL, PHYSICSOBJECT_GRAVITY, gePhysicsObject::respondsToForces, and gePhysicsObject_Config::torque.

Referenced by gePhysicsSystem_Iterate(). 

00245 {
00246         gePhysicsObject_Config* pConfig = &pod->configs[configIndex];
00247         assert( configIndex >= 0 );
00248         assert( configIndex <  2 );
00249         assert( pod != NULL );
00250 
00251         // add damping
00252         geVec3d_Scale(&pConfig->linearVelocity, 1.f - pod->linearDamping, &pConfig->linearVelocity);
00253         geVec3d_Scale(&pConfig->angularVelocity, 1.f - pod->angularDamping, &pConfig->angularVelocity);
00254 
00255         // clear force and torque accumulators
00256         geVec3d_Clear(&pConfig->force);
00257         geVec3d_Clear(&pConfig->torque);
00258         
00259         // add gravity
00260         if (pod->isAffectedByGravity)
00261                 geVec3d_Set(&pConfig->force, 0.f, PHYSICSOBJECT_GRAVITY * pod->mass, 0.f);
00262 
00263         // add forces
00264         if (! pod->respondsToForces) return GE_TRUE;
00265 
00266         geVec3d_Add(&pConfig->appliedForce, &pConfig->force, &pConfig->force);
00267         geVec3d_Add(&pConfig->appliedTorque, &pConfig->torque, &pConfig->torque);       
00268         
00269         return GE_TRUE;
00270 }

GENESISAPI gePhysicsObject* GENESISCC gePhysicsObject_Create (  const geVec3d *  StartLocation,
geFloat  mass,
geBoolean  IsAffectedByGravity,
geBoolean  RespondsToForces,
geFloat  linearDamping,
geFloat  angularDamping,
const geVec3d *  Mins,
const geVec3d *  Maxs,
geFloat  physicsScale
) 
 

Definition at line 71 of file PhysicsObject.c.

References gePhysicsObject::activeConfig, gePhysicsObject::angularDamping, gePhysicsObject_Config::angularVelocity, gePhysicsObject_Config::appliedForce, gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, gePhysicsObject_Config::force, GE_RAM_ALLOCATE_STRUCT, geFloat, GENESISAPI, GENESISCC, geQuaternion_SetFromAxisAngle(), geVec3d_Clear(), geVec3d_Copy(), geVec3d_Scale(), geVec3d_Set(), geVec3d_Subtract(), geXForm3d_SetIdentity(), gePhysicsObject::inertiaTensor, gePhysicsObject::inertiaTensorInverse, gePhysicsObject::isAffectedByGravity, gePhysicsObject::linearDamping, gePhysicsObject_Config::linearVelocity, gePhysicsObject::mass, Matrix33_SetIdentity(), NULL, gePhysicsObject::oneOverMass, gePhysicsObject_Config::orientation, gePhysicsObject::OriginalLocation, gePhysicsObject::physicsScale, gePhysicsObject::respondsToForces, gePhysicsObject_Config::torque, geXForm3d::Translation, Matrix33::x, geVec3d::X, gePhysicsObject_Config::xform, geVec3d::Y, and geVec3d::Z.

Referenced by PhysicsObject_Spawn(). 

00081 {
00082         gePhysicsObject*        pgePhysicsObject;
00083         geVec3d defaultAxis;
00084         geVec3d bbScale;
00085         int i;
00086 
00088 
00089         pgePhysicsObject = NULL;
00090         pgePhysicsObject = GE_RAM_ALLOCATE_STRUCT(gePhysicsObject);
00091 
00092         if (pgePhysicsObject == NULL)
00093                 return NULL;
00094 
00095         assert(pgePhysicsObject != NULL);
00096 
00098         // fill user data with relevant class data
00099 
00100         pgePhysicsObject->respondsToForces = RespondsToForces;
00101         pgePhysicsObject->isAffectedByGravity = IsAffectedByGravity;
00102 
00103         pgePhysicsObject->linearDamping = linearDamping;
00104         pgePhysicsObject->angularDamping = angularDamping;
00105 
00106         pgePhysicsObject->physicsScale = physicsScale;
00107         geVec3d_Copy(StartLocation, &pgePhysicsObject->OriginalLocation);
00108         geVec3d_Scale(&pgePhysicsObject->OriginalLocation, physicsScale, &pgePhysicsObject->OriginalLocation);
00109 
00110         assert(mass >= 0.1f);
00111 
00112         pgePhysicsObject->mass = mass;
00113         pgePhysicsObject->oneOverMass = 1.f / mass;     
00114 
00116         // initialize gePhysicsObject's state
00117 
00118         for (i = 0; i < 2; i ++)
00119         {               
00120                 geVec3d_Clear(&pgePhysicsObject->configs[i].linearVelocity);
00121                 geVec3d_Clear(&pgePhysicsObject->configs[i].angularVelocity);
00122                 geVec3d_Clear(&pgePhysicsObject->configs[i].force);
00123                 geVec3d_Clear(&pgePhysicsObject->configs[i].torque);
00124                 geVec3d_Clear(&pgePhysicsObject->configs[i].appliedForce);
00125                 geVec3d_Clear(&pgePhysicsObject->configs[i].appliedTorque);
00126 
00127                 geVec3d_Set(&defaultAxis, 1.f, 0.f, 0.f);
00128                 geQuaternion_SetFromAxisAngle(&pgePhysicsObject->configs[i].orientation,
00129                         &defaultAxis,
00130                         0.f);
00131 
00132                 geXForm3d_SetIdentity(&pgePhysicsObject->configs[i].xform);
00133                 geVec3d_Clear(&pgePhysicsObject->configs[i].xform.Translation);
00134         }
00135 
00136         Matrix33_SetIdentity(&pgePhysicsObject->inertiaTensor);
00137         Matrix33_SetIdentity(&pgePhysicsObject->inertiaTensorInverse);
00138 
00139         geVec3d_Subtract(Maxs, Mins, &bbScale);
00140         geVec3d_Scale(&bbScale, physicsScale, &bbScale);
00141 
00143         // compute gePhysicsObject's inertia tensor and inverse
00144         // we assume the gePhysicsObject is an axis-aligned box
00145 
00146         pgePhysicsObject->inertiaTensor.x[0][0] = pgePhysicsObject->mass / 12.f * (bbScale.Y * bbScale.Y + bbScale.Z * bbScale.Z);
00147         pgePhysicsObject->inertiaTensor.x[1][1] = pgePhysicsObject->mass / 12.f * (bbScale.X * bbScale.X + bbScale.Z * bbScale.Z);
00148         pgePhysicsObject->inertiaTensor.x[2][2] = pgePhysicsObject->mass / 12.f * (bbScale.X * bbScale.X + bbScale.Y * bbScale.Y);
00149 
00150         assert(pgePhysicsObject->inertiaTensor.x[0][0] > (geFloat)1e-5);
00151         assert(pgePhysicsObject->inertiaTensor.x[1][1] > (geFloat)1e-5);
00152         assert(pgePhysicsObject->inertiaTensor.x[2][2] > (geFloat)1e-5);
00153 
00154         pgePhysicsObject->inertiaTensorInverse.x[0][0] = 1 / pgePhysicsObject->inertiaTensor.x[0][0];
00155         pgePhysicsObject->inertiaTensorInverse.x[1][1] = 1 / pgePhysicsObject->inertiaTensor.x[1][1];
00156         pgePhysicsObject->inertiaTensorInverse.x[2][2] = 1 / pgePhysicsObject->inertiaTensor.x[2][2];
00157 
00158         pgePhysicsObject->activeConfig = 0;
00159 
00160         return pgePhysicsObject;
00161 }

GENESISAPI geBoolean GENESISCC gePhysicsObject_Destroy (  gePhysicsObject **  pPhysob  ) 
 

Definition at line 163 of file PhysicsObject.c.

References GE_TRUE, geBoolean, GENESISAPI, GENESISCC, geRam_Free, and NULL.

Referenced by PhysicsObject_Destroy(). 

00164 {
00165         assert(pPhysob != NULL);
00166         assert(*pPhysob != NULL);
00167 
00168         geRam_Free(*pPhysob);
00169         *pPhysob = NULL;
00170 
00171         return GE_TRUE;
00172 }

GENESISAPI int GENESISCC gePhysicsObject_GetActiveConfig (  gePhysicsObject *  pPhysob  ) 
 

Definition at line 847 of file PhysicsObject.c.

References gePhysicsObject::activeConfig, GENESISAPI, GENESISCC, and NULL.

Referenced by PhysicsObject_Control(), and PhysicsObject_Trigger(). 

00848 {
00849         assert(pPhysob != NULL);
00850         return pPhysob->activeConfig;
00851 }

GENESISAPI geFloat GENESISCC gePhysicsObject_GetAngularDamping (  const gePhysicsObject *  po  ) 
 

Definition at line 826 of file PhysicsObject.c.

References gePhysicsObject::angularDamping, geFloat, GENESISAPI, GENESISCC, and NULL. 

00827 {
00828         assert(po != NULL);
00829 
00830         return po->angularDamping;
00831 }

GENESISAPI void GENESISCC gePhysicsObject_GetAngularVelocity (  const gePhysicsObject *  po,
geVec3d *  vel,
int  configIndex
) 
 

Definition at line 502 of file PhysicsObject.c.

References gePhysicsObject_Config::angularVelocity, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00505 {
00506         assert(po != NULL);
00507         assert(vel != NULL);
00508         assert( configIndex >= 0 );
00509         assert( configIndex <  2 );
00510 
00511         geVec3d_Copy(&po->configs[configIndex].angularVelocity, vel);
00512 }

GENESISAPI void GENESISCC gePhysicsObject_GetAppliedForce (  const gePhysicsObject *  po,
geVec3d *  force,
int  configIndex
) 
 

Definition at line 574 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedForce, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00577 {
00578         assert(po != NULL);
00579         assert(force != NULL);
00580         assert( configIndex >= 0 );
00581         assert( configIndex <  2 );
00582 
00583         geVec3d_Copy(&po->configs[configIndex].appliedForce, force);
00584 }

GENESISAPI void GENESISCC gePhysicsObject_GetAppliedTorque (  const gePhysicsObject *  po,
geVec3d *  torque,
int  configIndex
) 
 

Definition at line 598 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00601 {
00602         assert(po != NULL);
00603         assert(torque != NULL);
00604         assert( configIndex >= 0 );
00605         assert( configIndex <  2 );
00606 
00607         geVec3d_Copy(&po->configs[configIndex].appliedTorque, torque);
00608 }

GENESISAPI void GENESISCC gePhysicsObject_GetForce (  const gePhysicsObject *  po,
geVec3d *  force,
int  configIndex
) 
 

Definition at line 526 of file PhysicsObject.c.

References gePhysicsObject::configs, gePhysicsObject_Config::force, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00529 {
00530         assert(po != NULL);
00531         assert(force != NULL);
00532         assert( configIndex >= 0 );
00533         assert( configIndex <  2 );
00534 
00535         geVec3d_Copy(&po->configs[configIndex].force, force);
00536 }

GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensor (  const gePhysicsObject *  po,
Matrix33 *  iTensor
) 
 

Definition at line 729 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, gePhysicsObject::inertiaTensor, Matrix33_Copy(), and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00730 {
00731         assert(po != NULL);
00732         assert(iTensor != NULL);
00733 
00734         Matrix33_Copy(&po->inertiaTensor, iTensor);
00735 }

GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensorInPhysicsSpace (  const gePhysicsObject *  pPhysob,
Matrix33 *  pITensor,
int  configIndex
) 
 

Definition at line 745 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, gePhysicsObject::inertiaTensor, Matrix33_ExtractFromXForm3d(), Matrix33_GetTranspose(), Matrix33_Multiply(), NULL, R, and gePhysicsObject_Config::xform. 

00749 {
00750         Matrix33 R, Rt, RJ;
00751 
00752         assert(pPhysob != NULL);
00753         assert(pITensor != NULL);
00754         assert( configIndex >= 0 );
00755         assert( configIndex <  2 );
00756 
00757         Matrix33_ExtractFromXForm3d(&pPhysob->configs[configIndex].xform, &R);
00758         Matrix33_GetTranspose(&R, &Rt);
00759 
00760         Matrix33_Multiply(&R, &pPhysob->inertiaTensor, &RJ);
00761         Matrix33_Multiply(&RJ, &Rt, pITensor);
00762 }

GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensorInverse (  const gePhysicsObject *  po,
Matrix33 *  iTensorInv
) 
 

Definition at line 737 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, gePhysicsObject::inertiaTensorInverse, Matrix33_Copy(), and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00738 {
00739         assert(po != NULL);
00740         assert(iTensorInv != NULL);
00741 
00742         Matrix33_Copy(&po->inertiaTensorInverse, iTensorInv);
00743 }

GENESISAPI void GENESISCC gePhysicsObject_GetInertiaTensorInverseInPhysicsSpace (  const gePhysicsObject *  pPhysob,
Matrix33 *  pITensorInv,
int  configIndex
) 
 

Definition at line 764 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, gePhysicsObject::inertiaTensorInverse, Matrix33_ExtractFromXForm3d(), Matrix33_GetTranspose(), Matrix33_Multiply(), NULL, R, and gePhysicsObject_Config::xform. 

00768 {
00769         Matrix33 R, Rt, RJi;
00770 
00771         assert(pPhysob != NULL);
00772         assert(pITensorInv != NULL);
00773         assert( configIndex >= 0 );
00774         assert( configIndex <  2 );
00775 
00776         Matrix33_ExtractFromXForm3d(&pPhysob->configs[configIndex].xform, &R);
00777         Matrix33_GetTranspose(&R, &Rt);
00778 
00779         Matrix33_Multiply(&R, &pPhysob->inertiaTensorInverse, &RJi);
00780         Matrix33_Multiply(&RJi, &Rt, pITensorInv);
00781 }

GENESISAPI geFloat GENESISCC gePhysicsObject_GetLinearDamping (  const gePhysicsObject *  po  ) 
 

Definition at line 811 of file PhysicsObject.c.

References geFloat, GENESISAPI, GENESISCC, gePhysicsObject::linearDamping, and NULL. 

00812 {
00813         assert(po != NULL);
00814 
00815         return po->linearDamping;
00816 }

GENESISAPI void GENESISCC gePhysicsObject_GetLinearVelocity (  const gePhysicsObject *  po,
geVec3d *  vel,
int  configIndex
) 
 

Definition at line 478 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsObject_Config::linearVelocity, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00481 {
00482         assert(po != NULL);
00483         assert(vel != NULL);
00484         assert( configIndex >= 0 );
00485         assert( configIndex <  2 );
00486 
00487         geVec3d_Copy(&po->configs[configIndex].linearVelocity, vel);
00488 }

GENESISAPI void GENESISCC gePhysicsObject_GetLocation (  const gePhysicsObject *  po,
geVec3d *  Location,
int  configIndex
) 
 

Definition at line 452 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Add(), NULL, gePhysicsObject::OriginalLocation, geXForm3d::Translation, and gePhysicsObject_Config::xform.

Referenced by gePhysicsJoint_Create(), gePhysicsSystem_EnforceConstraints(), and PhysicsObject_Control(). 

00455 {
00456         assert(po != NULL);
00457         assert(Location != NULL);
00458         assert( configIndex >= 0 );
00459         assert( configIndex <  2 );
00460 
00461         geVec3d_Add(&po->configs[configIndex].xform.Translation, &po->OriginalLocation, Location);
00462 }

GENESISAPI void GENESISCC gePhysicsObject_GetLocationInEditorSpace (  const gePhysicsObject *  po,
geVec3d *  loc,
int  configIndex
) 
 

Definition at line 465 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Add(), geVec3d_Scale(), NULL, gePhysicsObject::OriginalLocation, gePhysicsObject::physicsScale, geXForm3d::Translation, and gePhysicsObject_Config::xform.

Referenced by PhysicsObject_Trigger(). 

00468 {
00469         assert(po != NULL);
00470         assert(loc != NULL);
00471         assert( configIndex >= 0 );
00472         assert( configIndex <  2 );
00473 
00474         geVec3d_Add(&po->OriginalLocation, &po->configs[configIndex].xform.Translation, loc);
00475         geVec3d_Scale(loc, 1 / po->physicsScale, loc);
00476 }

GENESISAPI geFloat GENESISCC gePhysicsObject_GetMass (  const gePhysicsObject *  po  ) 
 

Definition at line 374 of file PhysicsObject.c.

References geFloat, GENESISAPI, GENESISCC, gePhysicsObject::mass, and NULL. 

00375 {
00376         assert(po != NULL);
00377 
00378         return po->mass;
00379 }

GENESISAPI geFloat GENESISCC gePhysicsObject_GetOneOverMass (  const gePhysicsObject *  po  ) 
 

Definition at line 390 of file PhysicsObject.c.

References geFloat, GENESISAPI, GENESISCC, NULL, and gePhysicsObject::oneOverMass.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00391 {
00392         assert(po != NULL);
00393 
00394         return po->oneOverMass;
00395 }

GENESISAPI void GENESISCC gePhysicsObject_GetOrientation (  const gePhysicsObject *  po,
geQuaternion *  orient,
int  configIndex
) 
 

Definition at line 705 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geQuaternion_Copy(), NULL, and gePhysicsObject_Config::orientation. 

00707 {
00708         assert(po != NULL);
00709         assert(orient != NULL);
00710         assert( configIndex >= 0 );
00711         assert( configIndex <  2 );
00712 
00713         geQuaternion_Copy(&po->configs[configIndex].orientation, orient);
00714 }

GENESISAPI void GENESISCC gePhysicsObject_GetOriginalLocation (  const gePhysicsObject *  po,
geVec3d *  loc
) 
 

Definition at line 434 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), NULL, and gePhysicsObject::OriginalLocation. 

00435 {
00436         assert(po != NULL);
00437         assert(loc != NULL);
00438 
00439         geVec3d_Copy(&po->OriginalLocation, loc);
00440 }

GENESISAPI geFloat GENESISCC gePhysicsObject_GetPhysicsScale (  gePhysicsObject *  pPhysob  ) 
 

Definition at line 859 of file PhysicsObject.c.

References geFloat, GENESISAPI, GENESISCC, NULL, and gePhysicsObject::physicsScale.

Referenced by PhysicsObject_Trigger(). 

00860 {
00861         assert(pPhysob != NULL);
00862         return pPhysob->physicsScale;
00863 }

GENESISAPI void GENESISCC gePhysicsObject_GetTorque (  const gePhysicsObject *  po,
geVec3d *  torque,
int  configIndex
) 
 

Definition at line 550 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), NULL, and gePhysicsObject_Config::torque. 

00553 {
00554         assert(po != NULL);
00555         assert(torque != NULL);
00556         assert( configIndex >= 0 );
00557         assert( configIndex <  2 );
00558 
00559         geVec3d_Copy(&po->configs[configIndex].torque, torque);
00560 }

GENESISAPI void GENESISCC gePhysicsObject_GetXForm (  const gePhysicsObject *  po,
geXForm3d *  xform,
int  configIndex
) 
 

Definition at line 397 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geXForm3d_Copy(), NULL, and gePhysicsObject_Config::xform.

Referenced by gePhysicsSystem_EnforceConstraints(), and PhysicsObject_Control(). 

00400 {
00401         assert(po != NULL);
00402         assert(xform != NULL);
00403         assert( configIndex >= 0 );
00404         assert( configIndex <  2 );
00405 
00406         geXForm3d_Copy(&po->configs[configIndex].xform, xform);
00407 }

GENESISAPI void GENESISCC gePhysicsObject_GetXFormInEditorSpace (  const gePhysicsObject *  po,
geXForm3d *  xform,
int  configIndex
) 
 

Definition at line 421 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Scale(), geXForm3d_Copy(), NULL, gePhysicsObject::physicsScale, geXForm3d::Translation, and gePhysicsObject_Config::xform.

Referenced by PhysicsObject_Control(). 

00424 {
00425         assert(po != NULL);
00426         assert(xform != NULL);
00427         assert( configIndex >= 0 );
00428         assert( configIndex <  2 );
00429 
00430         geXForm3d_Copy(&po->configs[configIndex].xform, xform);
00431         geVec3d_Scale(&xform->Translation, 1 / po->physicsScale, &xform->Translation);
00432 }

GENESISAPI void GENESISCC gePhysicsObject_IncAppliedForce (  gePhysicsObject *  po,
const geVec3d *  forceInc,
int  configIndex
) 
 

Definition at line 682 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedForce, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Add(), and NULL. 

00685 {
00686         assert(po != NULL);
00687         assert(forceInc != NULL);
00688         assert( configIndex >= 0 );
00689         assert( configIndex <  2 );
00690 
00691         geVec3d_Add(&po->configs[configIndex].appliedForce, forceInc, &po->configs[configIndex].appliedForce);
00692 }

GENESISAPI void GENESISCC gePhysicsObject_IncAppliedTorque (  gePhysicsObject *  po,
const geVec3d *  torqueInc,
int  configIndex
) 
 

Definition at line 694 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Add(), and NULL. 

00696 {
00697         assert(po != NULL);
00698         assert(torqueInc != NULL);
00699         assert( configIndex >= 0 );
00700         assert( configIndex <  2 );
00701 
00702         geVec3d_Add(&po->configs[configIndex].appliedTorque, torqueInc, &po->configs[configIndex].appliedTorque);
00703 }

GENESISAPI void GENESISCC gePhysicsObject_IncForce (  gePhysicsObject *  po,
const geVec3d *  forceInc,
int  configIndex
) 
 

Definition at line 658 of file PhysicsObject.c.

References gePhysicsObject::configs, gePhysicsObject_Config::force, GENESISAPI, GENESISCC, geVec3d_Add(), and NULL. 

00661 {
00662         assert(po != NULL);
00663         assert(forceInc != NULL);
00664         assert( configIndex >= 0 );
00665         assert( configIndex <  2 );
00666 
00667         geVec3d_Add(&po->configs[configIndex].force, forceInc, &po->configs[configIndex].force);
00668 }

GENESISAPI void GENESISCC gePhysicsObject_IncTorque (  gePhysicsObject *  po,
const geVec3d *  torqueInc,
int  configIndex
) 
 

Definition at line 670 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Add(), NULL, and gePhysicsObject_Config::torque. 

00673 {
00674         assert(po != NULL);
00675         assert(torqueInc != NULL);
00676         assert( configIndex >= 0 );
00677         assert( configIndex <  2 );
00678 
00679         geVec3d_Add(&po->configs[configIndex].torque, torqueInc, &po->configs[configIndex].torque);
00680 }

GENESISAPI geBoolean GENESISCC gePhysicsObject_Integrate (  gePhysicsObject *  pod,
geFloat  dt,
int  sourceConfigIndex
) 
 

Definition at line 275 of file PhysicsObject.c.

References gePhysicsObject_Config::angularVelocity, gePhysicsObject::configs, gePhysicsObject_Config::force, G, GE_TRUE, geBoolean, geFloat, GENESISAPI, GENESISCC, geQuaternion_Normalize(), geQuaternion_ToMatrix(), geVec3d_Add(), geVec3d_CrossProduct(), geVec3d_Scale(), geVec3d_Subtract(), geXForm3d_Rotate(), gePhysicsObject::inertiaTensor, gePhysicsObject::inertiaTensorInverse, gePhysicsObject_Config::linearVelocity, Matrix33_ExtractFromXForm3d(), Matrix33_GetTranspose(), Matrix33_MultiplyVec3d(), NULL, gePhysicsObject::oneOverMass, gePhysicsObject_Config::orientation, R, gePhysicsObject_Config::torque, geXForm3d::Translation, geQuaternion::W, geQuaternion::X, geVec3d::X, gePhysicsObject_Config::xform, geQuaternion::Y, geVec3d::Y, geQuaternion::Z, and geVec3d::Z.

Referenced by gePhysicsSystem_Iterate(). 

00279 {
00280         gePhysicsObject_Config* pSourceConfig, *pTargetConfig;
00281         geVec3d tau;
00282         geVec3d a, dv;
00283         geVec3d angularMomentum, angularAcceleration;
00284         geVec3d omega_x_L, term1, dtTimesOmega;
00285         Matrix33 R, Rt;
00286         
00287         geFloat qmag;
00288         geQuaternion qdot;
00289         geFloat G[3][4], Gt[4][3];
00290         int i, j;
00291         static int M[]={0x696C6345,0x21657370};
00292         geFloat dt2 = 0.5f * (dt * dt);
00293 
00294         assert( sourceConfigIndex >= 0 );
00295         assert( sourceConfigIndex <  2 );
00296         assert( pod != NULL );
00297 
00299 
00300         pSourceConfig = &pod->configs[sourceConfigIndex];
00301         pTargetConfig = &pod->configs[1 - sourceConfigIndex];
00302 
00303         geVec3d_Scale(&pSourceConfig->force, pod->oneOverMass, &a);
00304         geVec3d_Scale(&a, dt, &dv);
00305         geVec3d_Add(&pSourceConfig->linearVelocity, &dv, &pTargetConfig->linearVelocity);
00306 
00308         
00309         Matrix33_MultiplyVec3d(&pod->inertiaTensor, &pSourceConfig->angularVelocity, &angularMomentum);
00310         geVec3d_CrossProduct(&pSourceConfig->angularVelocity, &angularMomentum, &omega_x_L);
00311 
00313         // compute torque in body frame (= R ^ T * torque)
00314 
00315         Matrix33_ExtractFromXForm3d(&pSourceConfig->xform, &R);
00316         Matrix33_GetTranspose(&R, &Rt);
00317         Matrix33_MultiplyVec3d(&Rt, &pSourceConfig->torque, &tau);
00318 
00319         geVec3d_Subtract(&tau, &omega_x_L, &term1);
00320 
00321         Matrix33_MultiplyVec3d(&pod->inertiaTensorInverse, &term1, &angularAcceleration);       
00322 
00323         geXForm3d_Rotate(&pSourceConfig->xform, &pSourceConfig->angularVelocity, &dtTimesOmega);
00324         geVec3d_Scale(&dtTimesOmega, dt, &dtTimesOmega);
00325 
00326         G[0][0] = -pSourceConfig->orientation.X; 
00327         G[0][1] = pSourceConfig->orientation.W; 
00328         G[0][2] = -pSourceConfig->orientation.Z; 
00329         G[0][3] = pSourceConfig->orientation.Y;
00330 
00331         G[1][0] = -pSourceConfig->orientation.Y; 
00332         G[1][1] = pSourceConfig->orientation.Z; 
00333         G[1][2] = pSourceConfig->orientation.W; 
00334         G[1][3] = -pSourceConfig->orientation.X;
00335 
00336         G[2][0] = -pSourceConfig->orientation.Z; 
00337         G[2][1] = -pSourceConfig->orientation.Y; 
00338         G[2][2] = pSourceConfig->orientation.X; 
00339         G[2][3] = pSourceConfig->orientation.W;
00340 
00341         for (i = 0; i < 3; i++)
00342                 for (j = 0; j < 4; j++)
00343                         Gt[j][i] = 0.5f * G[i][j];
00344 
00345         qdot.W = Gt[0][0] * dtTimesOmega.X + Gt[0][1] * dtTimesOmega.Y + Gt[0][2] * dtTimesOmega.Z;
00346         qdot.X = Gt[1][0] * dtTimesOmega.X + Gt[1][1] * dtTimesOmega.Y + Gt[1][2] * dtTimesOmega.Z;
00347         qdot.Y = Gt[2][0] * dtTimesOmega.X + Gt[2][1] * dtTimesOmega.Y + Gt[2][2] * dtTimesOmega.Z;
00348         qdot.Z = Gt[3][0] * dtTimesOmega.X + Gt[3][1] * dtTimesOmega.Y + Gt[3][2] * dtTimesOmega.Z;
00349 
00350         pTargetConfig->orientation.W = pSourceConfig->orientation.W + qdot.W;
00351         pTargetConfig->orientation.X = pSourceConfig->orientation.X + qdot.X;
00352         pTargetConfig->orientation.Y = pSourceConfig->orientation.Y + qdot.Y;
00353         pTargetConfig->orientation.Z = pSourceConfig->orientation.Z + qdot.Z;
00354         
00355         qmag = geQuaternion_Normalize(&pTargetConfig->orientation);
00356         geQuaternion_ToMatrix(&pTargetConfig->orientation, &pTargetConfig->xform);      
00357         
00358         pTargetConfig->angularVelocity.X = pSourceConfig->angularVelocity.X + dt * angularAcceleration.X;       
00359         pTargetConfig->angularVelocity.Y = pSourceConfig->angularVelocity.Y + dt * angularAcceleration.Y;
00360         pTargetConfig->angularVelocity.Z = pSourceConfig->angularVelocity.Z + dt * angularAcceleration.Z;
00361 
00363 
00364         pTargetConfig->xform.Translation.X =
00365                 pSourceConfig->xform.Translation.X + dt * pSourceConfig->linearVelocity.X + dt2 * a.X;
00366         pTargetConfig->xform.Translation.Y =
00367                 pSourceConfig->xform.Translation.Y + dt * pSourceConfig->linearVelocity.Y + dt2 * a.Y;
00368         pTargetConfig->xform.Translation.Z =
00369                 pSourceConfig->xform.Translation.Z + dt * pSourceConfig->linearVelocity.Z + dt2 * a.Z;
00370 
00371         return GE_TRUE;
00372 }

GENESISAPI geBoolean GENESISCC gePhysicsObject_IsAffectedByGravity (  const gePhysicsObject *  po  ) 
 

Definition at line 783 of file PhysicsObject.c.

References geBoolean, GENESISAPI, GENESISCC, gePhysicsObject::isAffectedByGravity, and NULL. 

00784 {
00785         assert(po != NULL);
00786 
00787         return po->isAffectedByGravity;
00788 }

GENESISAPI geBoolean GENESISCC gePhysicsObject_RespondsToForces (  const gePhysicsObject *  po  ) 
 

Definition at line 797 of file PhysicsObject.c.

References geBoolean, GENESISAPI, GENESISCC, NULL, and gePhysicsObject::respondsToForces. 

00798 {
00799         assert(po != NULL);
00800 
00801         return po->respondsToForces;
00802 }

GENESISAPI void GENESISCC gePhysicsObject_SetActiveConfig (  gePhysicsObject *  pPhysob,
int  configIndex
) 
 

Definition at line 841 of file PhysicsObject.c.

References gePhysicsObject::activeConfig, GENESISAPI, GENESISCC, and NULL.

Referenced by gePhysicsSystem_Iterate(). 

00842 {
00843         assert(pPhysob != NULL);
00844         pPhysob->activeConfig = configIndex;
00845 }

GENESISAPI void GENESISCC gePhysicsObject_SetAngularDamping (  gePhysicsObject *  po,
geFloat  angularDamping
) 
 

Definition at line 833 of file PhysicsObject.c.

References gePhysicsObject::angularDamping, GENESISAPI, GENESISCC, and NULL. 

00834 {
00835         assert(po != NULL);
00836         assert(angularDamping >= 0.f && angularDamping <= 1.f);
00837 
00838         po->angularDamping = angularDamping;
00839 }

GENESISAPI void GENESISCC gePhysicsObject_SetAngularVelocity (  gePhysicsObject *  po,
const geVec3d *  vel,
int  configIndex
) 
 

Definition at line 514 of file PhysicsObject.c.

References gePhysicsObject_Config::angularVelocity, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00517 {
00518         assert(po != NULL);
00519         assert(vel != NULL);
00520         assert( configIndex >= 0 );
00521         assert( configIndex <  2 );
00522 
00523         geVec3d_Copy(vel, &po->configs[configIndex].angularVelocity);
00524 }

GENESISAPI void GENESISCC gePhysicsObject_SetAppliedForce (  gePhysicsObject *  po,
const geVec3d *  force,
int  configIndex
) 
 

Definition at line 586 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedForce, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00589 {
00590         assert(po != NULL);
00591         assert(force != NULL);
00592         assert( configIndex >= 0 );
00593         assert( configIndex <  2 );
00594 
00595         geVec3d_Copy(force, &po->configs[configIndex].appliedForce);
00596 }

GENESISAPI void GENESISCC gePhysicsObject_SetAppliedTorque (  gePhysicsObject *  po,
const geVec3d *  torque,
int  configIndex
) 
 

Definition at line 610 of file PhysicsObject.c.

References gePhysicsObject_Config::appliedTorque, gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00613 {
00614         assert(po != NULL);
00615         assert(torque != NULL);
00616         assert( configIndex >= 0 );
00617         assert( configIndex <  2 );
00618 
00619         geVec3d_Copy(torque, &po->configs[configIndex].appliedTorque);
00620 }

GENESISAPI void GENESISCC gePhysicsObject_SetForce (  gePhysicsObject *  po,
const geVec3d *  force,
int  configIndex
) 
 

Definition at line 538 of file PhysicsObject.c.

References gePhysicsObject::configs, gePhysicsObject_Config::force, GENESISAPI, GENESISCC, geVec3d_Copy(), and NULL. 

00541 {
00542         assert(po != NULL);
00543         assert(force != NULL);
00544         assert( configIndex >= 0 );
00545         assert( configIndex <  2 );
00546 
00547         geVec3d_Copy(force, &po->configs[configIndex].force);
00548 }

GENESISAPI void GENESISCC gePhysicsObject_SetIsAffectedByGravity (  gePhysicsObject *  po,
geBoolean  flag
) 
 

Definition at line 790 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, gePhysicsObject::isAffectedByGravity, and NULL. 

00791 {
00792         assert(po != NULL);
00793 
00794         po->isAffectedByGravity = flag;
00795 }

GENESISAPI void GENESISCC gePhysicsObject_SetLinearDamping (  gePhysicsObject *  po,
geFloat  linearDamping
) 
 

Definition at line 818 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, gePhysicsObject::linearDamping, and NULL. 

00819 {
00820         assert(po != NULL);
00821         assert(linearDamping >= 0.f && linearDamping <= 1.f);
00822 
00823         po->linearDamping = linearDamping;
00824 }

GENESISAPI void GENESISCC gePhysicsObject_SetLinearVelocity (  gePhysicsObject *  po,
const geVec3d *  vel,
int  configIndex
) 
 

Definition at line 490 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsObject_Config::linearVelocity, and NULL. 

00493 {
00494         assert(po != NULL);
00495         assert(vel != NULL);
00496         assert( configIndex >= 0 );
00497         assert( configIndex <  2 );
00498 
00499         geVec3d_Copy(vel, &po->configs[configIndex].linearVelocity);
00500 }

GENESISAPI void GENESISCC gePhysicsObject_SetMass (  gePhysicsObject *  po,
geFloat  mass
) 
 

Definition at line 381 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, gePhysicsObject::mass, and NULL. 

00382 {
00383         assert(po != NULL);
00384 
00385         po->mass = mass;
00386 
00387         #pragma message("TODO: set i tensor")
00388 }

GENESISAPI void GENESISCC gePhysicsObject_SetOrientation (  gePhysicsObject *  po,
const geQuaternion *  orient,
int  configIndex
) 
 

Definition at line 716 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geQuaternion_Copy(), NULL, and gePhysicsObject_Config::orientation. 

00719 {
00720         assert(po != NULL);
00721         assert(orient != NULL);
00722         assert( configIndex >= 0 );
00723         assert( configIndex <  2 );
00724 
00725         geQuaternion_Copy(orient, &po->configs[configIndex].orientation);
00726 }

GENESISAPI void GENESISCC gePhysicsObject_SetOriginalLocation (  gePhysicsObject *  po,
const geVec3d *  loc
) 
 

Definition at line 442 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), NULL, and gePhysicsObject::OriginalLocation. 

00443 {
00444         assert(po != NULL);
00445         assert(loc != NULL);
00446 
00447         geVec3d_Copy(loc, &po->OriginalLocation);
00448 }

GENESISAPI void GENESISCC gePhysicsObject_SetPhysicsScale (  gePhysicsObject *  pPhysob,
geFloat  scale
) 
 

Definition at line 853 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, NULL, and gePhysicsObject::physicsScale. 

00854 {
00855         assert(pPhysob != NULL);
00856         pPhysob->physicsScale = scale;
00857 }

GENESISAPI void GENESISCC gePhysicsObject_SetRespondsToForces (  gePhysicsObject *  po,
geBoolean  flag
) 
 

Definition at line 804 of file PhysicsObject.c.

References GENESISAPI, GENESISCC, NULL, and gePhysicsObject::respondsToForces. 

00805 {
00806         assert(po != NULL);
00807 
00808         po->respondsToForces = flag;
00809 }

GENESISAPI void GENESISCC gePhysicsObject_SetTorque (  gePhysicsObject *  po,
const geVec3d *  torque,
int  configIndex
) 
 

Definition at line 562 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geVec3d_Copy(), NULL, and gePhysicsObject_Config::torque. 

00565 {
00566         assert(po != NULL);
00567         assert(torque != NULL);
00568         assert( configIndex >= 0 );
00569         assert( configIndex <  2 );
00570 
00571         geVec3d_Copy(torque, &po->configs[configIndex].torque);
00572 }

GENESISAPI void GENESISCC gePhysicsObject_SetXForm (  gePhysicsObject *  po,
const geXForm3d *  xform,
int  configIndex
) 
 

Definition at line 409 of file PhysicsObject.c.

References gePhysicsObject::configs, GENESISAPI, GENESISCC, geXForm3d_Copy(), NULL, and gePhysicsObject_Config::xform. 

00412 {
00413         assert(po != NULL);
00414         assert(xform != NULL);
00415         assert( configIndex >= 0 );
00416         assert( configIndex <  2 );
00417 
00418         geXForm3d_Copy(xform, &po->configs[configIndex].xform);
00419 }

Generated on Tue Sep 30 12:37:54 2003 for GTestAndEngine by doxygen 1.3.2