6838ab89d5
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@410 92aac97c-a6ce-11dd-a772-7fcde58d38e6
88 lines
4.2 KiB
C++
88 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 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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// Libraries
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#include "Box.h"
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#include <GL/freeglut.h>
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// Use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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Box::Box(double size, double mass, Vector3D& position, rp3d::Quaternion& orientation) {
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this->size = size;
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// Local inertia tensor of a cube
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rp3d::Matrix3x3 inertiaTensor(1.0/12.0*mass*2*size*size, 0.0, 0.0,
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0.0, 1.0/12.0*mass*2*size*size, 0.0,
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0.0, 0.0, 1.0/12.0*mass*2*size*size);
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// Creation of the bounding volume for the collision
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// The bounding volume is an Oriented Bounding Box (OBB)
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// The first three arguments are the three axis direction of the OBB (here the x,y and z axis)
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// and the last three arguments are the corresponding half extents of the OBB in those direction.
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// Here the rigid body is a cube and therefore the three half extents are the half of the size
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// of the cube in all OBB directions.
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rp3d::OBB* boundingVolume = new OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0), size/2.0, size/2.0, size/2);
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// Create the rigid body that will be used to simulate the physics of the box
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rigidBody = new RigidBody(position, orientation, mass, inertiaTensor, boundingVolume);
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}
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// Destructor
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Box::~Box() {
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// Delete the physics body
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delete rigidBody;
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}
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// Draw the box
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void Box::draw() const {
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// Get the current position of the rigid body (for animation you should use the
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// getInterpolatedPosition() function instead of getPosition()
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Vector3D position = rigidBody->getInterpolatedPosition();
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// Get the current orientation of the rigid body (represented by a quaternion)
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Quaternion orientation = rigidBody->getInterpolatedOrientation();
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// Use the returned quaternion to get the rotation axis and rotation angle
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Vector3D orientationAxis;
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double orientationAngle;
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orientation.getRotationAngleAxis(orientationAngle, orientationAxis);
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glPushMatrix();
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// Translation of the box to its position
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glTranslatef(position.getValue(0), position.getValue(1), position.getValue(2));
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// Rotation of the box according to its orientation
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glRotatef(orientationAngle/PI*180.0, orientationAxis.getX(), orientationAxis.getY(), orientationAxis.getZ());
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// Draw the cube
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glutSolidCube(size);
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glPopMatrix();
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}
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