104 lines
4.0 KiB
C++
104 lines
4.0 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "CylinderShape.h"
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#include "../../configuration.h"
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#if defined(VISUAL_DEBUG)
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#if defined(APPLE_OS)
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#include <GLUT/glut.h>
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#include <OpenGL/gl.h>
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#elif defined(WINDOWS_OS)
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#include <GL/glut.h>
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#include <GL/gl.h>
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#elif defined(LINUX_OS)
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#include <GL/freeglut.h>
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#include <GL/gl.h>
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#endif
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#endif
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using namespace reactphysics3d;
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// Constructor
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CylinderShape::CylinderShape(decimal radius, decimal height)
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: CollisionShape(CYLINDER), mRadius(radius), mHalfHeight(height/decimal(2.0)) {
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}
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// Destructor
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CylinderShape::~CylinderShape() {
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}
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// Return a local support point in a given direction with the object margin
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Vector3 CylinderShape::getLocalSupportPointWithMargin(const Vector3& direction) const {
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// Compute the support point without the margin
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Vector3 supportPoint = getLocalSupportPointWithoutMargin(direction);
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// Add the margin to the support point
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Vector3 unitVec(0.0, 1.0, 0.0);
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if (direction.lengthSquare() > MACHINE_EPSILON * MACHINE_EPSILON) {
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unitVec = direction.getUnit();
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}
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supportPoint += unitVec * getMargin();
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return supportPoint;
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}
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// Return a local support point in a given direction without the object margin
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Vector3 CylinderShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {
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Vector3 supportPoint(0.0, 0.0, 0.0);
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decimal uDotv = direction.y;
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Vector3 w(direction.x, 0.0, direction.z);
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decimal lengthW = sqrt(direction.x * direction.x + direction.z * direction.z);
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if (lengthW > MACHINE_EPSILON) {
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if (uDotv < 0.0) supportPoint.y = -mHalfHeight;
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else supportPoint.y = mHalfHeight;
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supportPoint += (mRadius / lengthW) * w;
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}
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else {
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if (uDotv < 0.0) supportPoint.y = -mHalfHeight;
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else supportPoint.y = mHalfHeight;
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}
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return supportPoint;
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}
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#ifdef VISUAL_DEBUG
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// Draw the cone (only for debuging purpose)
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void CylinderShape::draw() const {
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// Draw in red
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glColor3f(1.0, 0.0, 0.0);
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// Draw the sphere
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glutWireSphere(mRadius, 50, 50);
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}
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#endif
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