diff options
| -rw-r--r-- | include/YAGE/Physics/README.org | 23 | ||||
| -rw-r--r-- | include/YAGE/Physics/body.hpp | 6 | ||||
| -rw-r--r-- | include/YAGE/Physics/rigidbody.hpp | 1 | ||||
| -rw-r--r-- | src/rigidbody.cpp | 13 |
4 files changed, 38 insertions, 5 deletions
diff --git a/include/YAGE/Physics/README.org b/include/YAGE/Physics/README.org new file mode 100644 index 00000000..0a2a5066 --- /dev/null +++ b/include/YAGE/Physics/README.org @@ -0,0 +1,23 @@ +#+TITLE: README +#+DATE: <2017-04-17 Mon> +#+AUTHOR: +#+EMAIL: yannherklotz@yann-arch +#+OPTIONS: ':nil *:t -:t ::t <:t H:3 \n:nil ^:t arch:headline +#+OPTIONS: author:t c:nil creator:comment d:(not "LOGBOOK") date:t +#+OPTIONS: e:t email:nil f:t inline:t num:t p:nil pri:nil stat:t +#+OPTIONS: tags:t tasks:t tex:t timestamp:t toc:t todo:t |:t +#+CREATOR: Emacs 25.1.1 (Org mode 8.2.10) +#+DESCRIPTION: +#+EXCLUDE_TAGS: noexport +#+KEYWORDS: +#+LANGUAGE: en +#+SELECT_TAGS: export + +* Physics Engine + +** Acceleration, speed and position + + I have a = dv/dt; v=dp/dt; + + I am going to use the second order runga kutta method with a=0, b=1, alpha=1/2 and beta=1/2 + diff --git a/include/YAGE/Physics/body.hpp b/include/YAGE/Physics/body.hpp index 9806f4e3..170ef491 100644 --- a/include/YAGE/Physics/body.hpp +++ b/include/YAGE/Physics/body.hpp @@ -9,6 +9,8 @@ namespace yage class Body { protected: + // current force acting on object + glm::vec2 force_; // current velocity of the object glm::vec2 velocity_; @@ -28,8 +30,8 @@ public: virtual void applyForce(const glm::vec2 &force)=0; protected: // protected constructor to initialize member variables - Body(const glm::vec2 ¢er_of_mass, double mass, const glm::vec2 &velocity, bool gravity) : - velocity_(velocity), center_of_mass_(center_of_mass), + Body(const glm::vec2 ¢er_of_mass, double mass, const glm::vec2 &force, const glm::vec2 &velocity, bool gravity) : + force_(force), velocity_(velocity), center_of_mass_(center_of_mass), mass_(mass), gravity_(gravity) {} }; diff --git a/include/YAGE/Physics/rigidbody.hpp b/include/YAGE/Physics/rigidbody.hpp index 47f3bc01..56f089ed 100644 --- a/include/YAGE/Physics/rigidbody.hpp +++ b/include/YAGE/Physics/rigidbody.hpp @@ -11,6 +11,7 @@ class RigidBody : public Body public: RigidBody(const glm::vec2 ¢er_of_mass, double mass, + const glm::vec2 &force=glm::vec2(0.f, 0.f), const glm::vec2 &velocity=glm::vec2(0.f, 0.f), bool gravity=true); diff --git a/src/rigidbody.cpp b/src/rigidbody.cpp index 3f719784..4d774937 100644 --- a/src/rigidbody.cpp +++ b/src/rigidbody.cpp @@ -3,14 +3,21 @@ namespace yage { -RigidBody::RigidBody(const glm::vec2 ¢er_of_mass, double mass, const glm::vec2 &velocity, bool gravity) : - Body(center_of_mass, mass, velocity, gravity) +RigidBody::RigidBody(const glm::vec2 ¢er_of_mass, double mass, const glm::vec2 &force, const glm::vec2 &velocity, bool gravity) : + Body(center_of_mass, mass, force, velocity, gravity) {} void RigidBody::applyForce(const glm::vec2 &force) { + // set the time_step for 60fps + double time_step=1.0/60.0; + // a=F/m - glm::vec2 acceleration(force.x/mass_, force.y/mass_); + glm::vec2 acceleration((force_.x+force.x)/mass_, (force_.y+force.y)/mass_); // = a(t0) + + glm::vec2 intermediate_velocity=acceleration+glm::vec2(acceleration.x*time_step/2, acceleration.y*time_step/2); + + velocity_=acceleration+glm::vec2(intermediate_velocity.x*time_step, intermediate_velocity.y*time_step); } } // yage |