def __init__(self):
'''
Constructor
'''
self.p = Vec(0,0)
self.mat = RotationMatrix()
self.v = Vec(0,0)
self.w = 0
self.invmass = 1.0
self.invmoi = 1.0
self.accumulator = Vec(0,0)
self.torqueAccumulator = 0
self.collider = None
self.engine = None
class Rigidbody(object):
'''
classdocs
'''
def __init__(self):
'''
Constructor
'''
self.p = Vec(0,0)
self.mat = RotationMatrix()
self.v = Vec(0,0)
self.w = 0
self.invmass = 1.0
self.invmoi = 1.0
self.accumulator = Vec(0,0)
self.torqueAccumulator = 0
self.collider = None
self.engine = None
self.boundRadius = 0
def worldPosition(self,point):
return self.p + self.mat.rotatePoint(point)
def worldVelocity(self,worldPoint):
point = worldPoint - self.p
return self.v + Vec(point.y*-self.w, point.x*self.w)
def integrate(self, dt):
self.p += self.v * dt
self.mat.rotate(self.w*dt)
a = self.accumulator * self.invmass
wa = self.torqueAccumulator * self.invmoi
if self.engine:
a += self.engine.gravity
self.v += a*dt
self.w += wa*dt
def deltaVperImpulse(self, worldPoint, normal):
point = worldPoint - self.p
#linear
deltaV = self.invmass
#rotation
torque = point.cross(normal)
deltaW = torque * self.invmoi
deltaV += Vec(point.y*-deltaW, point.x*deltaW).dot(normal)
return deltaV
def getPosition(self):
return self.p
def getRotation(self):
return self.mat.r
def getRotationMatrix(self):
return self.mat
def applyImpulse(self,worldPoint,impulse):
point = worldPoint - self.p
self.v += impulse * self.invmass
self.w += point.cross(impulse) * self.invmoi
