File indexing completed on 2024-04-21 03:51:24

 /*
     SPDX-FileCopyrightText: 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
 
     SPDX-License-Identifier: GPL-2.0-or-later
 */
 
 /** \file softbody.h
  *  \brief SoftBody-related classes
  */
 
 #ifndef STEPCORE_SOFTBODY_H
 #define STEPCORE_SOFTBODY_H
 
 #include "particle.h"
 #include "spring.h"
 #include "world.h"
 #include <cmath>
 
 namespace StepCore {
 
 /** \ingroup bodies
  *  \brief Soft body particle
  */
 class SoftBodyParticle: public Particle
 {
     STEPCORE_OBJECT(SoftBodyParticle)
 
 public:
     /** Constructs a SoftBadyParticle */
     explicit SoftBodyParticle(const Vector2d &position = Vector2d::Zero(), const Vector2d &velocity = Vector2d::Zero(), double mass = 1)
         : Particle(position, velocity, mass) {}
 };
 
 /** \ingroup forces
  *  \brief Soft body spring
  */
 class SoftBodySpring: public Spring
 {
     STEPCORE_OBJECT(SoftBodySpring)
 
 public:
     /** Constructs a SoftBodySpring */
     explicit SoftBodySpring(double restLength = 0, double stiffness = 1, double damping = 0,
                                                      Item* bodyPtr1 = nullptr, Item* bodyPtr2 = nullptr)
         : Spring(restLength, stiffness, damping, bodyPtr1, bodyPtr2) {}
 };
 
 typedef std::vector<SoftBodyParticle*> SoftBodyParticleList;
 
 /** \ingroup bodies
  *  \brief SoftBody - a group of several SoftBodyParticle and SoftBodySprings
  */
 class SoftBody: public ItemGroup
 {
     STEPCORE_OBJECT(SoftBody)
 
 public:
     /** Constructs a SoftBody */
     SoftBody(): _showInternalItems(true) { setColor(0xffa9a9a9); }
 
     /** Creates particles and springs inside soft body
      *  \param position Position of the center of the body
      *  \param size Size of the edge of the body
      *  \param split Split count of the edge of the body
      *  \param bodyMass Total mass of the body
      *  \param youngModulus Young's modulus of the body
      *  \param bodyDamping Damping of the body
      *  \return List of particles and springs
      */
     ItemList createSoftBodyItems(const Vector2d& position, const Vector2d& size, const Vector2i& split,
                     double bodyMass, double youngModulus, double bodyDamping);
 
     /** Adds all items to ItemGroup */
     void addItems(const ItemList& items);
 
     /** Get the position of the center of mass */
     Vector2d position() const;
     /** Set the position of the center of mass */
     void setPosition(const Vector2d &position); 
 
     /** Get the velocity of the center of mass */
     Vector2d velocity() const;
     /** Set the velocity of the center of mass */
     void setVelocity(const Vector2d &velocity);
 
     /** Get the angular velocity of the body */
     double angularVelocity() const;
     /** Set the angular velocity of the body */
     void setAngularVelocity(double angularVelocity);
 
     /** Get the angular momentum of the body */
     double angularMomentum() const;
 
     /** Set the angular momentum of the body */
     void setAngularMomentum(double angularMomentum);
 
     /** Get acceleration of the center of mass */
     Vector2d acceleration() const { return force()/mass(); }
 
     /** Get angular acceleration of the body */
     double angularAcceleration() const { return torque()/inertia(); }
 
     /** Get the force acting on the body */
     Vector2d force() const; 
     /** Get the torque acting on the body */
     double torque() const;
 
     /** Get total body mass */
     double mass() const;
 
     /** Get the inertia of the body */
     double inertia() const;
 
     /** Get status of drawing of internal items */
     bool showInternalItems() const { return _showInternalItems; }
     /** Set status of drawing of internal items */
     void setShowInternalItems(bool showInternalItems) {
         _showInternalItems = showInternalItems; }
 
     /** Get ordered list of particles on the border of the body */
     const SoftBodyParticleList& borderParticles();
 
     QString borderParticleNames() const;
     void setBorderParticleNames(const QString& borderParticleNames);
 
     void worldItemRemoved(Item* item) override;
     void setWorld(World* world) override;
 
 protected:
     SoftBodyParticleList _borderParticles;
     QString _borderParticleNames;
     bool _showInternalItems;
 };
 
 } // namespace StepCore
 
 #endif