mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@232 92aac97c-a6ce-11dd-a772-7fcde58d38e6

Browse Source
This commit is contained in:
chappuis.daniel 2009-12-23 10:06:10 +00:00
parent 2bd9701164
commit 902f3ab2b4
3 changed files with 31 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
sources/reactphysics3d/body/BodyState.h
View File

@ -162,7 +162,7 @@ inline Vector3D BodyState::getForce() const {
// Set the force over the body
inline void BodyState::setForce(const Vector3D& force) {
this->force;
this->force = force;
}
// Return the current torque of the body

36
sources/reactphysics3d/body/OBB.cpp
View File

@ -134,30 +134,46 @@ void OBB::draw() const {
// Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis.
// Be careful when this method returns vertices of a polygonal face because vertices are not necessarly ordered.
std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D axis) const {
assert(axis.length() != 0);
std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) const {
assert(directionAxis.length() != 0);
std::vector<Vector3D> extremeVertices;
// Check if the given axis is parallel to an axis on the OBB
if (axis[0].isParallelWith(axis)) {
// TODO : Complete this
if (axis[0].isParallelWith(directionAxis)) {
if (axis[0].scalarProduct(directionAxis) >= 0) { // If both axis are in the same direction
extremeVertices = getFace(0); // The extreme is the face 0
}
else {
extremeVertices = getFace(1); // The extreme is the face 1
}
}
else if(axis[1].isParallelWith(axis) {
// TODO : Complete this
else if(axis[1].isParallelWith(directionAxis)) {
if (axis[1].scalarProduct(directionAxis) >= 0) { // If both axis are in the same direction
extremeVertices = getFace(2); // The extreme is the face 2
}
else {
extremeVertices = getFace(3); // The extreme is the face 3
}
}
else if(axis[2].isParallelWith(axis) {
// TODO : Complete this
else if(axis[2].isParallelWith(directionAxis)) {
if (axis[2].scalarProduct(directionAxis) >= 0) { // If both axis are in the same direction
extremeVertices = getFace(4); // The extreme is the face 4
}
else {
extremeVertices = getFace(5); // The extreme is the face 5
}
}
else { // The extreme is made of an unique vertex or an edge
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
// For each vertex of the OBB
for (unsigned int i=0; i<8; ++i) {
Vector3D vertex = getVertex(i);
// Compute the projection length of the current vertex onto the projection axis
double projectionLength = axis.scalarProduct(vertex-center) / axis.length();
double projectionLength = directionAxis.scalarProduct(vertex-center) / directionAxis.length();
// If we found a bigger projection length
if (projectionLength > maxProjectionLength + EPSILON) {

8
sources/reactphysics3d/body/OBB.h
View File

@ -58,7 +58,7 @@ class OBB : public BoundingVolume {
std::vector<Vector3D> getFace(int index) const throw(std::invalid_argument); // Return the 4 vertices the OBB's face in the direction of a given 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 std::vector<Vector3D> getExtremeVertices(const Vector3D axis) const; // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis
virtual std::vector<Vector3D> getExtremeVertices(const Vector3D& axis) 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)
};
@ -74,7 +74,7 @@ inline void OBB::setCenter(const Vector3D& center) {
}
// Return an axis of the OBB
inline Vector3D OBB::getAxis(unsigned int index) const throw(std::invalid_argument) const {
inline Vector3D OBB::getAxis(unsigned int index) const throw(std::invalid_argument) {
// Check if the index value is valid
if (index >= 0 && index <3) {
return axis[index];
@ -98,7 +98,7 @@ inline void OBB::setAxis(unsigned int index, const Vector3D& axis) throw(std::in
}
// Return a vertex of the OBB
inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_argument) const {
inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_argument) {
// Check if the index value is valid
if (index >= 0 && index <8) {
Vector3D vertex;
@ -133,7 +133,7 @@ inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_arg
// Return an extent value
inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) const {
inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) {
// Check if the index value is valid
if (index >= 0 && index <3) {
return extent[index];