box.cpp

   1 /***************************************************************************
   2  *   Copyright (C) 2008 by Scott West   *
   3  *   westsg2@mcmaster.ca   *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20 #include "box.h"
  21
  22 #include <iostream>
  23 #include <math.h>
  24
  25
  26 Box::Box (Vector pos, Vector size) :
  27   p      (pos),
  28   sz     (size)
  29 {
  30   // FIXME: default mass, add mass option to the constructor later
  31   btScalar mass = 1;
  32   // initially no inertia
  33   btVector3 inertia (0,0,0);
  34
  35   // the box shape and size
  36   btBoxShape* btBox = new btBoxShape (btVector3 (sz.x/2,
  37                                                  sz.y/2,
  38                                                  sz.z/2)
  39                                       );
  40
  41   // this represents the box position and orientation
  42   btTransform boxInitTrans;
  43   boxInitTrans.setIdentity ();
  44   boxInitTrans.setOrigin (btVector3 (p.x, p.y, p.z));
  45
  46   btDefaultMotionState* btBoxState =
  47     new btDefaultMotionState (boxInitTrans);
  48
  49   // set the shape's moving properties, inertia, mass.
  50   btBox->calculateLocalInertia (mass, inertia);
  51
  52   // create a rigid body with the mass, shape, inertia.
  53   btRigidBody::btRigidBodyConstructionInfo boxCI
  54     (mass, btBoxState, btBox, inertia);
  55
  56   btBoxBody = new btRigidBody (boxCI);
  57   btBoxBody->setSleepingThresholds(btScalar (0.1), btScalar (0.1));
  58 }
  59
  60
  61 Box::~Box ()
  62 {
  63 }
  64
  65 void Box::update(const Box& b, double dt)
  66 {
  67
  68 }
  69
  70 Vector Box::position (){
  71   return p;
  72 }
  73
  74 void Box::drawQuad ()
  75 {
  76   glBegin (GL_QUADS);
  77
  78   glNormal3f (0.0f, 0.0f, 1.0f);
  79
  80   glVertex3f (-0.5,  0.5, 0.5);
  81   glVertex3f ( 0.5,  0.5, 0.5);
  82   glVertex3f ( 0.5, -0.5, 0.5);
  83   glVertex3f (-0.5, -0.5, 0.5);
  84
  85   glEnd ();
  86 }
  87
  88 btRigidBody* Box::getBody ()
  89 {
  90   return btBoxBody;
  91 }
  92
  93 void Box::drawBox ()
  94 {
  95   glPushMatrix ();
  96
  97   for(int i = 0; i < 4; i++)
  98     {
  99       glRotated (90.0, 0.0, 1.0, 0.0);
 100       drawQuad ();
 101     }
 102
 103   glRotated (90.0, 1.0, 0.0, 0.0);
 104   drawQuad ();
 105
 106   glRotated (180.0, 1.0, 0.0, 0.0);
 107   drawQuad ();
 108
 109   glPopMatrix ();
 110 }
 111
 112 void Box::render ()
 113 {
 114   glPushMatrix ();
 115
 116   glColorMaterial (GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
 117   glEnable (GL_COLOR_MATERIAL);
 118
 119   glColor3f (1.0f, 0.0f, 0.0f);
 120
 121   btTransform trans;
 122   btScalar matrix[16];
 123
 124   btBoxBody->getMotionState ()->getWorldTransform (trans);
 125   trans.getOpenGLMatrix (matrix);
 126   glMultMatrixf (matrix);
 127
 128   glScaled (sz.x, sz.y, sz.z);
 129   drawBox ();
 130
 131   glColor3f (1.0f, 1.0f, 1.0f);
 132
 133   glPopMatrix ();
 134 }