125 lines
4.2 KiB
C++
125 lines
4.2 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 "BoxShape.h"
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#include "../../configuration.h"
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#include <vector>
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#include <cassert>
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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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using namespace std;
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// Constructor
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BoxShape::BoxShape(const Vector3& extent) : CollisionShape(BOX), mExtent(extent) {
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}
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// Private copy-constructor
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BoxShape::BoxShape(const BoxShape& shape) : CollisionShape(shape), mExtent(shape.mExtent) {
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}
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// Destructor
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BoxShape::~BoxShape() {
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}
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// Return the local inertia tensor of the collision shape
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void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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decimal factor = (decimal(1.0) / decimal(3.0)) * mass;
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decimal xSquare = mExtent.x * mExtent.x;
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decimal ySquare = mExtent.y * mExtent.y;
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decimal zSquare = mExtent.z * mExtent.z;
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tensor.setAllValues(factor * (ySquare + zSquare), 0.0, 0.0,
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0.0, factor * (xSquare + zSquare), 0.0,
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0.0, 0.0, factor * (xSquare + ySquare));
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}
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#ifdef VISUAL_DEBUG
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// Draw the Box (only for testing purpose)
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void BoxShape::draw() const {
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decimal e1 = mExtent.x;
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decimal e2 = mExtent.y;
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decimal e3 = mExtent.z;
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// Draw in red
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glColor3f(1.0, 0.0, 0.0);
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// Draw the Box
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glBegin(GL_LINES);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(e1, e2, -e3);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(e1, -e2, e3);
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glVertex3f(e1, -e2, e3);
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glVertex3f(e1, e2, e3);
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glVertex3f(e1, e2, e3);
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glVertex3f(e1, e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(-e1, e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(-e1, -e2, e3);
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glVertex3f(-e1, -e2, e3);
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glVertex3f(-e1, e2, e3);
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glVertex3f(-e1, e2, e3);
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glVertex3f(-e1, e2, -e3);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(e1, -e2, e3);
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glVertex3f(-e1, -e2, e3);
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glVertex3f(e1, e2, e3);
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glVertex3f(-e1, e2, e3);
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glEnd();
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}
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#endif
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