156 lines
6.4 KiB
C++
Executable File
156 lines
6.4 KiB
C++
Executable File
/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "Objects.h"
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//#include <windows.h> // To avoid an error due to the #include <GL/glut.h>
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#include <GL/freeglut.h>
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#include <GL/gl.h>
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#include <GL/glu.h>
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#include <cmath>
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#include <iostream>
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// ----- Class Object ----- //
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// Constructor of the class Object
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Object::Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
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:rigidBody(new RigidBody(position, mass, inertiaTensor, obb)) {
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}
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// Destructor of the class Object
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Object::~Object() {
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// Delete the rigid body object
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delete rigidBody;
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}
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// Return the pointer to the rigid body
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RigidBody* Object::getRigidBody() {
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return rigidBody;
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}
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// ----- Class Cube ----- //
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// Static attributes
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const Matrix3x3 Cube::inertiaTensor;
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// Constructor of the class Cube
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Cube::Cube(const Vector3D& position, float size, const Kilogram& mass)
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:Object(position, mass, Matrix3x3(1.0/12.0*mass.getValue()*2*size*size, 0.0, 0.0,
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0.0, 1.0/12.0*mass.getValue()*2*size*size, 0.0,
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0.0, 0.0, 1.0/12.0*mass.getValue()*2*size*size), OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0),
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size/2, size/2, size/2)) {
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this->size = size;
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}
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// Destructor of the classe Cube
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Cube::~Cube() {
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}
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// Method to draw the cube
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void Cube::draw() const {
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// Get the interpolated state of the rigid body
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BodyState state = rigidBody->getInterpolatedState();
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// Position of the cube
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double x = state.getPosition().getX();
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double y = state.getPosition().getY();
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double z = state.getPosition().getZ();
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// Orientation of the cube
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Vector3D orientationAxis;
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double orientationAngle;
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state.getOrientation().getRotationAngleAxis(orientationAngle, orientationAxis);
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// Translation of the cube to its position
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glTranslatef(x, y, z);
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// Rotation of the cube 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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}
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// ----- Class Plane ----- //
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// Constructor of the class Plane
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Plane::Plane(const Vector3D& position, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass)
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:Object(position, mass, Matrix3x3(1.0/12.0*mass.getValue()*height*height, 0.0, 0.0,
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0.0, 1.0/12.0*mass.getValue()*(width*width+height*height), 0.0,
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0.0, 0.0, 1.0/12.0*mass.getValue()*width*width), OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0),
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width/2, 0.5, height/2)) { // TODO : Change the height of the OBB
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this->width = width;
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this->height = height;
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this->d1 = d1;
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this->d2 = d2;
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// By default Planes in the demo cannot move
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rigidBody->setIsMotionEnabled(false);
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// Compute the unit normal vector of the plane by a cross product
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normalVector = d1.crossProduct(d2).getUnit();
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}
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// Destructor of the class Plane
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Plane::~Plane() {
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}
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// Method used to draw the plane
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void Plane::draw() const {
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// Get the interpolated state of the rigid body
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BodyState state = rigidBody->getInterpolatedState();
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// Get the position of the rigid body
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double x = state.getPosition().getX();
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double y = state.getPosition().getY();
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double z = state.getPosition().getZ();
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// Translation of the cube to its position
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glTranslatef(x, y, z);
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float halfWidth = width / 2.0;
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float halfHeight = height / 2.0;
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// Draw the plane
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glBegin(GL_POLYGON);
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glColor3f(1.0, 1.0, 1.0);
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glVertex3f(x + d1.getX() * halfWidth + d2.getX() * halfHeight , y + d1.getY() * halfWidth + d2.getY() * halfHeight
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, z + d1.getZ() * halfWidth + d2.getZ() * halfHeight);
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glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
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glVertex3f(x + d1.getX() * halfWidth - d2.getX() * halfHeight , y + d1.getY() * halfWidth - d2.getY() * halfHeight
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, z + d1.getZ() * halfWidth - d2.getZ() * halfHeight);
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glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
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glVertex3f(x - d1.getX() * halfWidth - d2.getX() * halfHeight , y - d1.getY() * halfWidth - d2.getY() * halfHeight
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, z - d1.getZ() * halfWidth - d2.getZ() * halfHeight);
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glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
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glVertex3f(x - d1.getX() * halfWidth + d2.getX() * halfHeight , y - d1.getY() * halfWidth + d2.getY() * halfHeight
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, z - d1.getZ() * halfWidth + d2.getZ() * halfHeight);
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glEnd();
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}
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