Vamos Automotive Simulator git

//  Copyright (C) 2001-2019 Sam Varner
//
//  This file is part of Vamos Automotive Simulator.
//
//  Vamos is free software: you can redistribute it and/or modify it under the terms of
//  the GNU General Public License as published by the Free Software Foundation, either
//  version 3 of the License, or (at your option) any later version.
//
//  Vamos is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
//  without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
//  PURPOSE.  See the GNU General Public License for more details.
//
//  You should have received a copy of the GNU General Public License along with Vamos.
//  If not, see <http://www.gnu.org/licenses/>.

#include "Particle.hpp"

using namespace Vamos_Body;
using namespace Vamos_Geometry;

Particle::Particle(double mass, const Three_Vector& position)
    : Frame(position),
      m_mass(mass)
{}

Particle::Particle(double mass, const Three_Vector& position, const Material& material)
    : Frame(position),
      m_mass(mass),
      m_material(material)
{}

Three_Vector Particle::force() const
{
    return rotate_out(m_force);
}

Three_Vector Particle::impulse() const
{
    return rotate_out(m_impulse);
}

Three_Vector Particle::torque() const
{
    return rotate_out(m_torque);
}

void Particle::contact(const Three_Vector& impulse, const Three_Vector& velocity,
                       double depth, const Three_Vector& normal,
                       const Three_Vector& angular_velocity, const Material& material)
{
    // Particles without materials don't take part in collisions.
    if (m_material.type() == Material::UNKNOWN)
        reset();
    else
    {
        auto neg_v_par = velocity.project(normal) - velocity;
        m_force = rotate_in(
            (m_material.friction_factor() * material.friction_factor()) * neg_v_par);
        m_impulse = rotate_in(impulse);
    }
}

void Particle::reset()
{
    m_force.zero();
    m_torque.zero();
    m_impulse.zero();
}