92 lines
4.4 KiB
C++
92 lines
4.4 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2016 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
* use of this software. *
|
|
* *
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
* freely, subject to the following restrictions: *
|
|
* *
|
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
|
* that you wrote the original software. If you use this software in a *
|
|
* product, an acknowledgment in the product documentation would be *
|
|
* appreciated but is not required. *
|
|
* *
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
* misrepresented as being the original software. *
|
|
* *
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
// Libraries
|
|
#include "PhysicsObject.h"
|
|
|
|
/// Constructor
|
|
PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon)
|
|
: openglframework::Mesh(), mPhysicsCommon(physicsCommon) {
|
|
|
|
mBody = nullptr;
|
|
mColor = openglframework::Color(1, 1, 1, 1);
|
|
mSleepingColor = openglframework::Color(1, 0, 0, 1);
|
|
}
|
|
|
|
/// Constructor
|
|
PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon, const std::string& meshPath) : PhysicsObject(physicsCommon) {
|
|
|
|
// Load the mesh from a file
|
|
openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this);
|
|
|
|
// If the mesh file do not have normals
|
|
if (mNormals.empty()) {
|
|
|
|
// Calculate the normals of the mesh
|
|
calculateNormals();
|
|
}
|
|
}
|
|
|
|
// Compute the new transform matrix
|
|
openglframework::Matrix4 PhysicsObject::computeTransform(float interpolationFactor,
|
|
const openglframework::Matrix4& scalingMatrix) {
|
|
|
|
// Get the transform of the rigid body
|
|
rp3d::Transform transform = mBody->getTransform();
|
|
|
|
// Interpolate the transform between the previous one and the new one
|
|
rp3d::Transform interpolatedTransform = rp3d::Transform::interpolateTransforms(mPreviousTransform,
|
|
transform,
|
|
interpolationFactor);
|
|
mPreviousTransform = transform;
|
|
|
|
// Compute the transform used for rendering the box
|
|
rp3d::decimal matrix[16];
|
|
interpolatedTransform.getOpenGLMatrix(matrix);
|
|
openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
|
|
matrix[1], matrix[5], matrix[9], matrix[13],
|
|
matrix[2], matrix[6], matrix[10], matrix[14],
|
|
matrix[3], matrix[7], matrix[11], matrix[15]);
|
|
|
|
// Apply the scaling matrix to have the correct box dimensions
|
|
return newMatrix * scalingMatrix;
|
|
}
|
|
|
|
// Reset the transform
|
|
void PhysicsObject::setTransform(const rp3d::Transform& transform) {
|
|
|
|
// Reset the transform
|
|
mBody->setTransform(transform);
|
|
|
|
// Reset the velocity of the rigid body
|
|
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
|
|
if (rigidBody != nullptr) {
|
|
rigidBody->setLinearVelocity(rp3d::Vector3(0, 0, 0));
|
|
rigidBody->setAngularVelocity(rp3d::Vector3(0, 0, 0));
|
|
}
|
|
|
|
updateTransform(1.0f);
|
|
}
|