80 lines
2.1 KiB
C++
80 lines
2.1 KiB
C++
#include "libs.h"
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#include "dynamic_body.h"
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#include "space.h"
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#include "frame.h"
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DynamicBody::DynamicBody(void) : ModelBody() {
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m_flags = Body::FLAG_CAN_MOVE_FRAME;
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m_body = dBodyCreate(Space::world);
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dMassSetBox(&m_mass, 1, 50, 50, 50);
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dMassAdjust(&m_mass, 1.0f);
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dBodySetMass(m_body, &m_mass);
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}
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void DynamicBody::Enable(void) {
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ModelBody::Enable();
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dBodyEnable(m_body);
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}
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void DynamicBody::Disable(void) {
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ModelBody::Disable();
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dBodyDisable(m_body);
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}
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void DynamicBody::SetRotMatrix(const matrix4x4d& r) {
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dMatrix3 _m;
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r.SaveToOdeMatrix(_m);
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dBodySetRotation(m_body, _m);
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}
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void DynamicBody::GetRotMatrix(matrix4x4d& m) {
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m.LoadFromOdeMatrix(dBodyGetRotation(m_body));
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}
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void DynamicBody::SetMassDistributionFromCollMesh(const CollMesh* m) {
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/*
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* XXX: This is silly. the radius of mass distribution should be
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* defined on the model, not cooked up in some stupid way.
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*/
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vector3d min = vector3d(FLT_MAX);
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vector3d max = vector3d(-FLT_MAX);
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for(int i = 0; i < 3*m->nv; i += 3) {
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min.x = MIN(m->pVertex[i], min.x);
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min.y = MIN(m->pVertex[i+1], min.y);
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min.z = MIN(m->pVertex[i+2], min.z);
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max.x = MAX(m->pVertex[i], max.x);
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max.y = MAX(m->pVertex[i+1], max.y);
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max.z = MAX(m->pVertex[i+2], max.z);
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}
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float size = ((max.x-min.x) + (max.y-min.y) + (max.z-min.z)) / 6.0f;
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dMassSetSphere(&m_mass, 1, size);
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/* Boxes go mental after a while due to inertia tensor being fishy. */
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//dMassSetBox(&m_mass, 1, max.x-min.x, max.y-min.y, max.z-min.z);
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dBodySetMass(m_body, &m_mass);
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}
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vector3d DynamicBody::GetAngularMomentum(void) {
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matrix4x4d I;
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I.LoadFromOdeMatrix(m_mass.I);
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return I * vector3d(dBodyGetAngularVel(m_body));
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}
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DynamicBody::~DynamicBody(void) {
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dBodyDestroy(m_body);
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}
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vector3d DynamicBody::GetVelocity(void) {
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const dReal* v = dBodyGetLinearVel(m_body);
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return vector3d(v[0], v[1], v[2]);
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}
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void DynamicBody::SetVelocity(vector3d v) {
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dBodySetLinearVel(m_body, v.x, v.y, v.z);
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}
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void DynamicBody::SetAngVelocity(vector3d v) {
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dBodySetAngularVel(m_body, v.x, v.y, v.z);
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}
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