9333d0e690
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@463 92aac97c-a6ce-11dd-a772-7fcde58d38e6
120 lines
4.1 KiB
C++
120 lines
4.1 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "BoxCollider.h"
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#include "../configuration.h"
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#include <vector>
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#include <cassert>
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#if defined(VISUAL_DEBUG)
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#if defined(APPLE_OS)
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#include <GLUT/glut.h>
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#include <OpenGL/gl.h>
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#elif defined(WINDOWS_OS)
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#include <GL/glut.h>
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#include <GL/gl.h>
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#elif defined(LINUX_OS)
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#include <GL/freeglut.h>
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#include <GL/gl.h>
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#endif
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#endif
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using namespace reactphysics3d;
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using namespace std;
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// Constructor
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BoxCollider::BoxCollider(const Vector3& extent) : Collider(BOX), extent(extent) {
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}
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// Destructor
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BoxCollider::~BoxCollider() {
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}
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// Return the local inertia tensor of the collider
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void BoxCollider::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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decimal factor = (1.0 / 3.0) * mass;
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decimal xSquare = extent.getX() * extent.getX();
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decimal ySquare = extent.getY() * extent.getY();
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decimal zSquare = extent.getZ() * extent.getZ();
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tensor.setAllValues(factor * (ySquare + zSquare), 0.0, 0.0,
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0.0, factor * (xSquare + zSquare), 0.0,
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0.0, 0.0, factor * (xSquare + ySquare));
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}
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#ifdef VISUAL_DEBUG
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// Draw the Box (only for testing purpose)
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void BoxCollider::draw() const {
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decimal e1 = extent.getX();
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decimal e2 = extent.getY();
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decimal e3 = extent.getZ();
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// Draw in red
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glColor3f(1.0, 0.0, 0.0);
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// Draw the Box
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glBegin(GL_LINES);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(e1, e2, -e3);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(e1, -e2, e3);
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glVertex3f(e1, -e2, e3);
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glVertex3f(e1, e2, e3);
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glVertex3f(e1, e2, e3);
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glVertex3f(e1, e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(-e1, e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(-e1, -e2, e3);
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glVertex3f(-e1, -e2, e3);
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glVertex3f(-e1, e2, e3);
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glVertex3f(-e1, e2, e3);
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glVertex3f(-e1, e2, -e3);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(e1, -e2, -e3);
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glVertex3f(-e1, -e2, -e3);
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glVertex3f(e1, -e2, e3);
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glVertex3f(-e1, -e2, e3);
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glVertex3f(e1, e2, e3);
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glVertex3f(-e1, e2, e3);
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glEnd();
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}
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#endif
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