852b923c21
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@391 92aac97c-a6ce-11dd-a772-7fcde58d38e6
115 lines
4.8 KiB
C++
115 lines
4.8 KiB
C++
/********************************************************************************
|
|
* 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 "AABB.h"
|
|
#include <GL/freeglut.h> // TODO : Remove this in the final version
|
|
#include <GL/gl.h> // TODO : Remove this in the final version
|
|
#include <cassert>
|
|
|
|
using namespace reactphysics3d;
|
|
using namespace std;
|
|
|
|
// Constructor
|
|
AABB::AABB(const Vector3D& center,double extentX, double extentY, double extentZ) {
|
|
this->center = center;
|
|
|
|
this->extent[0] = extentX;
|
|
this->extent[1] = extentY;
|
|
this->extent[2] = extentZ;
|
|
|
|
this->originalAABBExtent[0] = extentX;
|
|
this->originalAABBExtent[1] = extentY;
|
|
this->originalAABBExtent[2] = extentZ;
|
|
}
|
|
|
|
// Destructor
|
|
AABB::~AABB() {
|
|
|
|
}
|
|
|
|
// Draw the OBB (only for testing purpose)
|
|
void AABB::draw() const {
|
|
|
|
Vector3D s1 = center + Vector3D(extent[0], extent[1], -extent[2]);
|
|
Vector3D s2 = center + Vector3D(extent[0], extent[1], extent[2]);
|
|
Vector3D s3 = center + Vector3D(-extent[0], extent[1], extent[2]);
|
|
Vector3D s4 = center + Vector3D(-extent[0], extent[1], -extent[2]);
|
|
Vector3D s5 = center + Vector3D(extent[0], -extent[1], -extent[2]);
|
|
Vector3D s6 = center + Vector3D(extent[0], -extent[1], extent[2]);
|
|
Vector3D s7 = center + Vector3D(-extent[0], -extent[1], extent[2]);
|
|
Vector3D s8 = center + Vector3D(-extent[0], -extent[1], -extent[2]);
|
|
|
|
// Draw in red
|
|
glColor3f(1.0, 0.0, 0.0);
|
|
|
|
// Draw the OBB
|
|
glBegin(GL_LINES);
|
|
glVertex3f(s1.getX(), s1.getY(), s1.getZ());
|
|
glVertex3f(s2.getX(), s2.getY(), s2.getZ());
|
|
|
|
glVertex3f(s2.getX(), s2.getY(), s2.getZ());
|
|
glVertex3f(s3.getX(), s3.getY(), s3.getZ());
|
|
|
|
glVertex3f(s3.getX(), s3.getY(), s3.getZ());
|
|
glVertex3f(s4.getX(), s4.getY(), s4.getZ());
|
|
|
|
glVertex3f(s4.getX(), s4.getY(), s4.getZ());
|
|
glVertex3f(s1.getX(), s1.getY(), s1.getZ());
|
|
|
|
glVertex3f(s5.getX(), s5.getY(), s5.getZ());
|
|
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
|
|
|
|
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
|
|
glVertex3f(s7.getX(), s7.getY(), s7.getZ());
|
|
|
|
glVertex3f(s7.getX(), s7.getY(), s7.getZ());
|
|
glVertex3f(s8.getX(), s8.getY(), s8.getZ());
|
|
|
|
glVertex3f(s8.getX(), s8.getY(), s8.getZ());
|
|
glVertex3f(s5.getX(), s5.getY(), s5.getZ());
|
|
|
|
glVertex3f(s1.getX(), s1.getY(), s1.getZ());
|
|
glVertex3f(s5.getX(), s5.getY(), s5.getZ());
|
|
|
|
glVertex3f(s4.getX(), s4.getY(), s4.getZ());
|
|
glVertex3f(s8.getX(), s8.getY(), s8.getZ());
|
|
|
|
glVertex3f(s3.getX(), s3.getY(), s3.getZ());
|
|
glVertex3f(s7.getX(), s7.getY(), s7.getZ());
|
|
|
|
glVertex3f(s2.getX(), s2.getY(), s2.getZ());
|
|
glVertex3f(s6.getX(), s6.getY(), s6.getZ());
|
|
|
|
glEnd();
|
|
}
|
|
|
|
// Static method that computes an AABB from a set of vertices. The "center" argument corresponds to the center of the AABB
|
|
// This method allocates a new AABB object and return a pointer to the new allocated AABB object
|
|
AABB* AABB::computeFromVertices(const vector<Vector3D>& vertices, const Vector3D& center) {
|
|
// TODO : Implement this method;
|
|
return 0;
|
|
}
|
|
|