Add the BoundingSphere class

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@414 92aac97c-a6ce-11dd-a772-7fcde58d38e6

src/body/BoundingSphere.cpp

@@ -0,0 +1,66 @@
+
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010 Daniel Chappuis                                            *
+*********************************************************************************
+*                                                                               *
+* Permission is hereby granted, free of charge, to any person obtaining a copy  *
+* of this software and associated documentation files (the "Software"), to deal *
+* in the Software without restriction, including without limitation the rights  *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell     *
+* copies of the Software, and to permit persons to whom the Software is         *
+* furnished to do so, subject to the following conditions:                      *
+*                                                                               *
+* The above copyright notice and this permission notice shall be included in    *
+* all copies or substantial portions of the Software.                           *
+*                                                                               *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR    *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,      *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE   *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER        *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN     *
+* THE SOFTWARE.                                                                 *
+********************************************************************************/
+
+// Libraries
+#include "BoundingSphere.h"
+#include <cassert>
+
+#ifdef VISUAL_DEBUG
+   #include <GL/freeglut.h>        // TODO : Remove this in the final version
+   #include <GL/gl.h>              // TODO : Remove this in the final version
+#endif
+
+using namespace reactphysics3d;
+using namespace std;
+
+// Constructor
+BoundingSphere::BoundingSphere(const Vector3D& center, double radius) {
+    this->center = center;
+    this->radius = radius;
+}
+
+// Destructor
+BoundingSphere::~BoundingSphere() {
+
+}
+
+#ifdef VISUAL_DEBUG
+// Draw the sphere (only for testing purpose)
+void BoundingSphere::draw() const {
+
+    // Draw in red
+    glColor3f(1.0, 0.0, 0.0);
+
+    // Draw the sphere
+    glutWireSphere(radius, 50, 50);
+}
+#endif
+
+
+// Return the corresponding AABB
+AABB* BoundingSphere::computeAABB() const {
+    // Create and return the AABB
+    return new AABB(center, radius, radius, radius);
+}

src/body/BoundingSphere.h

@@ -0,0 +1,89 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010 Daniel Chappuis                                            *
+*********************************************************************************
+*                                                                               *
+* Permission is hereby granted, free of charge, to any person obtaining a copy  *
+* of this software and associated documentation files (the "Software"), to deal *
+* in the Software without restriction, including without limitation the rights  *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell     *
+* copies of the Software, and to permit persons to whom the Software is         *
+* furnished to do so, subject to the following conditions:                      *
+*                                                                               *
+* The above copyright notice and this permission notice shall be included in    *
+* all copies or substantial portions of the Software.                           *
+*                                                                               *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR    *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,      *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE   *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER        *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN     *
+* THE SOFTWARE.                                                                 *
+********************************************************************************/
+
+#ifndef BOUNDING_SPHERE_H
+#define BOUNDING_SPHERE_H
+
+// Libraries
+#include "NarrowBoundingVolume.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class BoundingSphere :
+        This class represents a sphere bounding volume.
+    -------------------------------------------------------------------
+*/
+class BoundingSphere : public NarrowBoundingVolume {
+    protected :
+        Vector3D center;            // Center point of the sphere
+        double radius;              // Radius of the sphere
+
+    public :
+        BoundingSphere(const Vector3D& center, double radius);      // Constructor
+        virtual ~BoundingSphere();                                  // Destructor
+
+        Vector3D getCenter() const;                                 // Return the center point of the sphere
+        void setCenter(const Vector3D& center);                     // Set the center point of the sphere
+        double getRadius() const;                                   // Return the radius of the sphere
+        void setRadius(double radius);                              // Set the radius of the sphere
+        virtual void update(const Vector3D& newCenter,
+                            const Quaternion& rotationQuaternion);  // Update the sphere orientation according to a new orientation of the rigid body
+        virtual AABB* computeAABB() const;                          // Return the corresponding AABB
+        #ifdef VISUAL_DEBUG
+            virtual void draw() const;                              // Draw the sphere (only for testing purpose)
+        #endif
+};
+
+// Return the center point of the sphere
+inline Vector3D BoundingSphere::getCenter() const {
+    return center;
+}
+
+// Set the center point of the sphere
+inline void BoundingSphere::setCenter(const Vector3D& center) {
+    this->center = center;
+}
+
+// Get the radius of the sphere
+inline double BoundingSphere::getRadius() const {
+    return radius;
+}
+
+// Set the radius of the sphere
+inline void BoundingSphere::setRadius(double radius) {
+    this->radius = radius;
+}
+
+// Update the orientation of the shere according to the orientation of the rigid body
+inline void BoundingSphere::update(const Vector3D& newCenter, const Quaternion& rotationQuaternion) {
+    // Update the center of the sphere
+    center = newCenter;
+}
+
+}; // End of the ReactPhysics3D namespace
+
+#endif