text: ﻿/*
  	Copyright (c) 2012 Hiroshi Matsuike
  
  	This software is provided 'as-is', without any express or implied
  	warranty. In no event will the authors be held liable for any damages
  	arising from the use of this software.
  
  	Permission is granted to anyone to use this software for any purpose,
  	including commercial applications, and to alter it and redistribute it
  	freely, subject to the following restrictions:
  
  	1. The origin of this software must not be misrepresented; you must not
  	claim that you wrote the original software. If you use this software
  	in a product, an acknowledgment in the product documentation would be
  	appreciated but is not required.
  
  	2. Altered source versions must be plainly marked as such, and must not be
  	misrepresented as being the original software.
  
  	3. This notice may not be removed or altered from any source distribution.
  */
  
  #ifndef EPX_SOLVER_BODY_H
  #define EPX_SOLVER_BODY_H
  
  #include "../EpxBase.h"
  
  namespace EasyPhysics {
  
  /// ソルバーボディ
  struct EpxSolverBody {
  	EpxVector3 deltaLinearVelocity; ///< 並進速度差分
  	EpxVector3 deltaAngularVelocity; ///< 回転速度差分
  	EpxQuat    orientation; ///< 姿勢
  	EpxMatrix3 inertiaInv; ///< 慣性テンソルの逆行列
  	EpxFloat   massInv; ///< 質量の逆数
  };
  
  } // namespace EasyPhysics
  
  #endif // EPX_SOLVER_BODY_H
  