6c6b6c6c86
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@438 92aac97c-a6ce-11dd-a772-7fcde58d38e6
86 lines
3.5 KiB
C++
86 lines
3.5 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
|
* Copyright (c) 2011 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 "CylinderShape.h"
|
|
#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;
|
|
|
|
// Constructor
|
|
CylinderShape::CylinderShape(double radius, double height) : radius(radius), halfHeight(height/2.0) {
|
|
|
|
}
|
|
|
|
// Destructor
|
|
CylinderShape::~CylinderShape() {
|
|
|
|
}
|
|
|
|
// Return a local support point in a given direction
|
|
Vector3 CylinderShape::getLocalSupportPoint(const Vector3& direction, double margin) const {
|
|
assert(margin >= 0.0);
|
|
|
|
Vector3 supportPoint(0.0, 0.0, 0.0);
|
|
double uDotv = direction.getY();
|
|
Vector3 w(direction.getX(), 0.0, direction.getZ());
|
|
double lengthW = sqrt(direction.getX() * direction.getX() + direction.getZ() * direction.getZ());
|
|
|
|
if (lengthW != 0.0) {
|
|
if (uDotv < 0.0) supportPoint.setY(-halfHeight);
|
|
else supportPoint.setY(halfHeight);
|
|
supportPoint += (radius / lengthW) * w;
|
|
}
|
|
else {
|
|
if (uDotv < 0.0) supportPoint.setY(-halfHeight);
|
|
else supportPoint.setY(halfHeight);
|
|
}
|
|
|
|
// Add the margin to the support point
|
|
if (margin != 0.0) {
|
|
Vector3 unitVec(0.0, 1.0, 0.0);
|
|
if (direction.lengthSquare() > MACHINE_EPSILON * MACHINE_EPSILON) {
|
|
unitVec = direction.getUnit();
|
|
}
|
|
supportPoint += unitVec * margin;
|
|
}
|
|
|
|
return supportPoint;
|
|
}
|
|
|
|
#ifdef VISUAL_DEBUG
|
|
// Draw the cone (only for debuging purpose)
|
|
void CylinderShape::draw() const {
|
|
|
|
// Draw in red
|
|
glColor3f(1.0, 0.0, 0.0);
|
|
|
|
// Draw the sphere
|
|
glutWireSphere(radius, 50, 50);
|
|
}
|
|
#endif
|