RigidBody.h

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#pragma once
#include "Node/ParametricModel.h"
 
#include "Quat.h"
 
namespace dyno
{
    template<typename TDataType>
    class RigidBody : public ParametricModel<TDataType>
    {
        DECLARE_TCLASS(RigidBody, TDataType)
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename TDataType::Matrix Matrix;
        typedef typename dyno::Quat<Real> Quat;
 
        RigidBody();
        ~RigidBody() override;
 
        std::string getNodeType() override { return "Rigid Bodies"; }
 
    public:
        DEF_VAR(Coord, Gravity, Coord(0.0, -9.8, 0.0), "Gravity");
 
    public:
        DEF_VAR_STATE(Real, Mass, Real(1), "Mass of the rigid body");

        DEF_VAR_STATE(Coord, Center, Coord(0), "Center of the rigid body");

        DEF_VAR_STATE(Coord, Velocity, Coord(0), "Velocity of rigid bodies");

        DEF_VAR_STATE(Coord, AngularVelocity, Coord(0), "Angular velocity of of the rigid body");

        DEF_VAR_STATE(Matrix, RotationMatrix, Matrix::identityMatrix(), "Rotation matrix of of the rigid body");
 
        DEF_VAR_STATE(Matrix, Inertia, Matrix::identityMatrix(), "Inertia matrix");
 
        DEF_VAR_STATE(Quat, Quaternion, Quat(0, 0, 0), "Quaternion");
 
        DEF_VAR_STATE(Matrix, InitialInertia, Matrix::identityMatrix(), "Initial inertia matrix");
 
    protected:
        void updateStates() override;
    };
}