reactphysics3d/testbed/common/PhysicsObject.cpp

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/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
2016-04-11 18:15:20 +00:00
* Copyright (c) 2010-2016 Daniel Chappuis *
*********************************************************************************
* *
* 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. *
* *
********************************************************************************/
// Libraries
#include "PhysicsObject.h"
/// Constructor
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PhysicsObject::PhysicsObject() : openglframework::Mesh() {
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mBody = nullptr;
mColor = openglframework::Color(1, 1, 1, 1);
mSleepingColor = openglframework::Color(1, 0, 0, 1);
}
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/// Constructor
PhysicsObject::PhysicsObject(const std::string& meshPath) : PhysicsObject() {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this);
// Calculate the normals of the mesh
calculateNormals();
}
// Compute the new transform matrix
openglframework::Matrix4 PhysicsObject::computeTransform(float interpolationFactor,
const openglframework::Matrix4& scalingMatrix) {
// Get the transform of the rigid body
rp3d::Transform transform = mBody->getTransform();
// Interpolate the transform between the previous one and the new one
rp3d::Transform interpolatedTransform = rp3d::Transform::interpolateTransforms(mPreviousTransform,
transform,
interpolationFactor);
mPreviousTransform = transform;
// Compute the transform used for rendering the box
rp3d::decimal matrix[16];
interpolatedTransform.getOpenGLMatrix(matrix);
openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
matrix[1], matrix[5], matrix[9], matrix[13],
matrix[2], matrix[6], matrix[10], matrix[14],
matrix[3], matrix[7], matrix[11], matrix[15]);
// Apply the scaling matrix to have the correct box dimensions
return newMatrix * scalingMatrix;
}
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// Reset the transform
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void PhysicsObject::setTransform(const rp3d::Transform& transform) {
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// Reset the transform
mBody->setTransform(transform);
mBody->setIsSleeping(false);
// Reset the velocity of the rigid body
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
rigidBody->setLinearVelocity(rp3d::Vector3(0, 0, 0));
rigidBody->setAngularVelocity(rp3d::Vector3(0, 0, 0));
}
updateTransform(1.0f);
}