void CQTOpenGLUserFunctions::DrawCircle(Real f_radius,
const CVector3& c_center_offset,
const CColor& c_color,
const bool b_fill,
const CQuaternion& c_orientation,
GLuint un_vertices) {
glDisable(GL_LIGHTING);
glDisable(GL_CULL_FACE);
glColor3ub(c_color.GetRed(),
c_color.GetGreen(),
c_color.GetBlue());
CVector3 cVertex(f_radius, 0.0f, 0.0f);
CRadians cAngle(CRadians::TWO_PI / un_vertices);
if(b_fill) {
glBegin(GL_POLYGON);
}
else {
glBegin(GL_LINE_LOOP);
}
CVector3 cNormalDirection(0.0f, 0.0f, 1.0f);
cNormalDirection.Rotate(c_orientation);
glNormal3f(cNormalDirection.GetX(),
cNormalDirection.GetY(),
cNormalDirection.GetZ());
/* Compute the quaternion defining the rotation of the vertices used to draw the circle. */
CQuaternion cVertexRotation;
CVector3 cVertexRotationAxis(0.0f, 0.0f, 1.0f);
cVertexRotationAxis.Rotate(c_orientation);
cVertexRotation.FromAngleAxis(cAngle, cVertexRotationAxis);
cVertex.Rotate(c_orientation);
for(GLuint i = 0; i <= un_vertices; i++) {
glVertex3f(cVertex.GetX() + c_center_offset.GetX(),
cVertex.GetY() + c_center_offset.GetY(),
cVertex.GetZ() + c_center_offset.GetZ());
cVertex.Rotate(cVertexRotation);
}
glEnd();
glEnable(GL_CULL_FACE);
glEnable(GL_LIGHTING);
}
void CDynamics2DEngine::OrientationPhysicsToSpace(CQuaternion& c_new_orient,
cpBody* pt_body) {
c_new_orient.FromAngleAxis(CRadians(pt_body->a), CVector3::Z);
}
void CQTOpenGLUserFunctions::DrawCylinder(Real f_radius,
Real f_height,
const CVector3& c_center_offset,
const CColor& c_color,
const CQuaternion& c_orientation,
GLuint un_vertices) {
/* Draw top circle*/
CVector3 cCirclePos(0.0f, 0.0f, f_height * 0.5f);
cCirclePos.Rotate(c_orientation);
cCirclePos += c_center_offset;
DrawCircle(f_radius,
cCirclePos,
c_color,
true,
c_orientation,
un_vertices);
/* Draw bottom circle*/
cCirclePos.Set(0.0f, 0.0f, -f_height * 0.5f);
cCirclePos.Rotate(c_orientation);
cCirclePos += c_center_offset;
DrawCircle(f_radius,
cCirclePos,
c_color,
true,
c_orientation,
un_vertices);
/* Side surface */
CVector3 cVertex1(f_radius, 0.0f, f_height * 0.5f);
CVector3 cVertex2(f_radius, 0.0f, -f_height * 0.5f);
CRadians cAngle(CRadians::TWO_PI / un_vertices);
/* Compute the quaternion defining the rotation of the vertices used to draw the side surface. */
CQuaternion cVertexRotation;
CVector3 cVertexRotationAxis(0.0f, 0.0f, 1.0f);
cVertexRotationAxis.Rotate(c_orientation);
cVertexRotation.FromAngleAxis(cAngle, cVertexRotationAxis);
glDisable(GL_LIGHTING);
glColor3ub(c_color.GetRed(),
c_color.GetGreen(),
c_color.GetBlue());
glBegin(GL_QUAD_STRIP);
/* Compute the normal direction of the starting edge. */
CVector3 cNormalDirection(cVertex1.GetX(), cVertex1.GetY(), 0.0f);
cNormalDirection.Rotate(c_orientation);
glNormal3f(cNormalDirection.GetX(),
cNormalDirection.GetY(),
cNormalDirection.GetZ());
/* Rotate the endpoints of the first edge.*/
cVertex1.Rotate(c_orientation);
cVertex2.Rotate(c_orientation);
for(GLuint i = 0; i <= un_vertices; i++) {
glVertex3f(cVertex1.GetX() + c_center_offset.GetX(),
c_center_offset.GetY() + cVertex1.GetY(),
c_center_offset.GetZ() + cVertex1.GetZ() );
glVertex3f(cVertex2.GetX() + c_center_offset.GetX(),
c_center_offset.GetY() + cVertex2.GetY(),
c_center_offset.GetZ() + cVertex2.GetZ() );
/* Rotate the vertices and the normal direction, set the new normal. */
cVertex1.Rotate(cVertexRotation);
cVertex2.Rotate(cVertexRotation);
cNormalDirection.Rotate(cVertexRotation);
glNormal3f(cNormalDirection.GetX(),
cNormalDirection.GetY(),
cNormalDirection.GetZ());
}
glEnd();
glEnable(GL_LIGHTING);
}
