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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@222 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-11-29 11:10:05 +00:00
parent f6e7977c4e
commit 8e9b7a682a
4 changed files with 90 additions and 24 deletions
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56
sources/reactphysics3d/body/OBB.cpp
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@ -19,9 +19,12 @@
// Libraries
#include "OBB.h"
#include <vector>
#include <GL/freeglut.h> // TODO : Remove this in the final version
#include <GL/gl.h> // TODO : Remove this in the final version
#include <cassert>
#include <cstdlib>
#include <iostream> // TODO : Delete this
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
@ -124,7 +127,56 @@ void OBB::draw() const {
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
glVertex3f(center.getX(), center.getY(), center.getZ());
glVertex3f(center.getX() + 8.0 * axis[2].getX(), center.getY() + 8.0 * axis[2].getY(), center.getZ() + 8.0 * axis[2].getZ());
glVertex3f(center.getX() + 8.0 * axis[1].getX(), center.getY() + 8.0 * axis[1].getY(), center.getZ() + 8.0 * axis[1].getZ());
glEnd();
}
// Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis.
// The function returns the number of extreme vertices and a set that contains thoses vertices.
int OBB::getExtremeVertices(const Vector3D projectionAxis, std::vector<Vector3D>& extremeVertices) const {
assert(extremeVertices.size() == 0);
assert(projectionAxis.length() != 0);
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
// Compute the vertices of the OBB
double e0 = extent[0];
double e1 = extent[1];
double e2 = extent[2];
Vector3D vertices[8];
vertices[0] = center + (axis[0]*e0) + (axis[1]*e1) - (axis[2]*e2);
vertices[1] = center + (axis[0]*e0) + (axis[1]*e1) + (axis[2]*e2);
vertices[2] = center - (axis[0]*e0) + (axis[1]*e1) + (axis[2]*e2);
vertices[3] = center - (axis[0]*e0) + (axis[1]*e1) - (axis[2]*e2);
vertices[4] = center + (axis[0]*e0) - (axis[1]*e1) - (axis[2]*e2);
vertices[5] = center + (axis[0]*e0) - (axis[1]*e1) + (axis[2]*e2);
vertices[6] = center - (axis[0]*e0) - (axis[1]*e1) + (axis[2]*e2);
vertices[7] = center - (axis[0]*e0) - (axis[1]*e1) - (axis[2]*e2);
for (int i=0; i<8; ++i) {
// Compute the projection length of the current vertex onto the projection axis
double projectionLength = projectionAxis.scalarProduct(vertices[i]-center) / projectionAxis.length();
//std::cout << "Projection length : " << projectionLength << std::endl;
//std::cout << "Max Projection length : " << maxProjectionLength << std::endl;
// If we found a bigger projection length
if (projectionLength > maxProjectionLength + EPSILON) {
maxProjectionLength = projectionLength;
extremeVertices.clear();
extremeVertices.push_back(vertices[i]);
//std::cout << "PRINT 1" << std::endl;
}
else if (equal(projectionLength, maxProjectionLength)) {
extremeVertices.push_back(vertices[i]);
//std::cout << "PRINT 2" << std::endl;
}
}
// An extreme should be a unique vertex, an edge or a face
assert(extremeVertices.size() == 1 || extremeVertices.size() == 2 || extremeVertices.size() == 4);
// Return the number of extreme vertices
return extremeVertices.size();
}

20
sources/reactphysics3d/body/OBB.h
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@ -50,19 +50,17 @@ class OBB : public BoundingVolume {
OBB(const OBB& obb); // Copy-Constructor
virtual ~OBB(); // Destructor
Vector3D getCenter() const; // Return the center point of the OBB
void setCenter(const Vector3D& center); // Set the center point
Vector3D getAxis(unsigned int index) const throw(std::invalid_argument); // Return an axis of the OBB
void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis
double getExtent(unsigned int index) const throw(std::invalid_argument); // Return an extent value
void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value
virtual void updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion); // Update the orientation of the OBB according to the orientation of the rigid body // Update the oriented bounding box orientation according to a new orientation of the rigid body
virtual void draw() const; // Draw the OBB (only for testing purpose)
Vector3D getCenter() const; // Return the center point of the OBB
void setCenter(const Vector3D& center); // Set the center point
Vector3D getAxis(unsigned int index) const throw(std::invalid_argument); // Return an axis of the OBB
void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis
double getExtent(unsigned int index) const throw(std::invalid_argument); // Return an extent value
void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value
virtual int getExtremeVertices(const Vector3D projectionAxis, std::vector<Vector3D>& extremeVertices) const; // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis
virtual void updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion); // Update the oriented bounding box orientation according to a new orientation of the rigid body
virtual void draw() const; // Draw the OBB (only for testing purpose)
};
// TODO : Don't forget that we need to code a way that a change in the orientation of a rigid body imply
// a change in the orientation (center and axis) of the corresponding OBB.
// Return the center point of the OBB
inline Vector3D OBB::getCenter() const {
return center;

19
sources/reactphysics3d/body/RigidBody.cpp
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@ -25,19 +25,18 @@
// Constructor
RigidBody::RigidBody(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
: Body(mass), inertiaTensor(inertiaTensor), obb(obb),
currentBodyState(position, orientation, inertiaTensor.getInverse(),Kilogram(1.0/mass.getValue())),
previousBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())) {
: Body(mass), inertiaTensor(inertiaTensor), currentBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())),
previousBodyState(position, orientation, inertiaTensor.getInverse(), Kilogram(1.0/mass.getValue())), obb(obb) {
isMotionEnabled = true;
isCollisionEnabled = true;
interpolationFactor = 0.0;
// Set the body pointer to the OBB
this->obb.setBodyPointer(this);
// Update the orientation of the OBB according to the orientation of the rigid body
this->update();
// Set the body pointer to the OBB
this->obb.setBodyPointer(this);
}
// Copy-constructor
@ -48,12 +47,12 @@
interpolationFactor = rigidBody.interpolationFactor;
}
// Destructor
RigidBody::~RigidBody() {
// Destructor
RigidBody::~RigidBody() {
};
};
// Compute the linear interpolation state between the previous body state and the current body state
// Compute the linear interpolation state between the previous body state and the current body state
// This is used to avoid visual stuttering when the display and physics framerates are out of synchronization
BodyState RigidBody::getInterpolatedState() const {

19
sources/reactphysics3d/body/RigidBody.h
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@ -56,10 +56,12 @@ class RigidBody : public Body {
Matrix3x3 getInertiaTensor() const; // Return the inertia tensor of the body
void setInertiaTensor(const Matrix3x3& inertiaTensor); // Set the inertia tensor of the body
BodyState& getCurrentBodyState(); // Return a reference to the current state of the body
BodyState& getPreviousBodyState(); // TODO : DELETE THIS
void setInterpolationFactor(double factor); // Set the interpolation factor of the body
BodyState getInterpolatedState() const; // Compute and return the interpolated state
bool getIsMotionEnabled() const; // Return if the rigid body can move
void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move
void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move
void setLinearVelocity(const Vector3D& linearVelocity); // Set the linear velocity of the rigid body
void updatePreviousBodyState(); // Update the previous body state of the body
OBB getOBB() const; // Return the oriented bounding box of the rigid body
void update(); // Update the rigid body in order to reflect a change in the body state
@ -83,6 +85,12 @@ inline BodyState& RigidBody::getCurrentBodyState() {
return currentBodyState;
}
// TODO : DELETE THIS
inline BodyState& RigidBody::getPreviousBodyState() {
return previousBodyState;
}
// Set the interpolation factor of the body
inline void RigidBody::setInterpolationFactor(double factor) {
assert(factor >= 0 && factor <= 1);
@ -101,6 +109,15 @@ inline void RigidBody::setIsMotionEnabled(bool isMotionEnabled) {
this->isMotionEnabled = isMotionEnabled;
}
// Set the linear velocity of the rigid body
inline void RigidBody::setLinearVelocity(const Vector3D& linearVelocity) {
// Update the linear velocity of the current body state
currentBodyState.setLinearVelocity(linearVelocity);
// Update the linear momentum of the current body state
currentBodyState.setLinearMomentum(linearVelocity * (1.0/currentBodyState.getMassInverse().getValue()));
}
// Update the previous body state of the body
inline void RigidBody::updatePreviousBodyState() {
// The current body state becomes the previous body state