c1eabd3e2b
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@460 92aac97c-a6ce-11dd-a772-7fcde58d38e6
97 lines
3.7 KiB
C++
97 lines
3.7 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
|
* Copyright (c) 2010-2012 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 "CylinderCollider.h"
|
|
#include "../configuration.h"
|
|
|
|
#if defined(VISUAL_DEBUG)
|
|
#if defined(APPLE_OS)
|
|
#include <GLUT/glut.h>
|
|
#include <OpenGL/gl.h>
|
|
#elif defined(WINDOWS_OS)
|
|
#include <GL/glut.h>
|
|
#include <GL/gl.h>
|
|
#elif defined(LINUX_OS)
|
|
#include <GL/freeglut.h>
|
|
#include <GL/gl.h>
|
|
#endif
|
|
#endif
|
|
|
|
using namespace reactphysics3d;
|
|
|
|
// Constructor
|
|
CylinderCollider::CylinderCollider(decimal radius, decimal height) : radius(radius), halfHeight(height/2.0) {
|
|
|
|
}
|
|
|
|
// Destructor
|
|
CylinderCollider::~CylinderCollider() {
|
|
|
|
}
|
|
|
|
// Return a local support point in a given direction
|
|
Vector3 CylinderCollider::getLocalSupportPoint(const Vector3& direction, decimal margin) const {
|
|
assert(margin >= 0.0);
|
|
|
|
Vector3 supportPoint(0.0, 0.0, 0.0);
|
|
decimal uDotv = direction.getY();
|
|
Vector3 w(direction.getX(), 0.0, direction.getZ());
|
|
decimal 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 CylinderCollider::draw() const {
|
|
|
|
// Draw in red
|
|
glColor3f(1.0, 0.0, 0.0);
|
|
|
|
// Draw the sphere
|
|
glutWireSphere(radius, 50, 50);
|
|
}
|
|
#endif
|