void RigidBodyMotionSimulation::CreateObjects()
{
RigidBodyPtr body(new RigidBody());
body->SetMass(1);
// Point3 newPos(0,20,30);
Point3 newPos(0,0,-80);
body->SetPos(newPos);
Matrix3 inertiaTensor;
inertiaTensor.SetBlockInertiaTensor(Vector3(1,1,1), 1);
body->SetInertiaTensor(inertiaTensor);
//matrix3 orientation = body->getorientation();
//orientation.createrotationmatrixaboutxaxis(45, &orientation);
//body->setorientation(orientation);
Quaternion orientation;
Vector3 rotationVec(1,1,1);
orientation.RotateByVector(rotationVec);
body->SetOrientation(orientation);
/*
//orientation.createrotationmatrixaboutxaxis(45, &orientation);
//body->setorientation(orientation);
Vector3 testVel(0,10,0);
body->SetLinearVel(testVel);
Vector3 testAngularVel(1.1,1.1,1.1);
body->SetAngularVel(testAngularVel);
*/
body->CalculateInternals();
body->AddForceAtBodyPoint(Vector3(0,-9,0),Point3(0,0,0));
//body->CalculateInternals();
m_RigidBodies.push_back(body);
}
void RigidBodyMotionSimulation::CreateObjects()
{
for(int i = 0 ; i < 0 ; i++)
{
RigidBodyPtr body(new RigidBody());
body->SetMass(1);
// Point3 newPos(0,20,30);
Point3 newPos(30,10,0);
body->SetPos(newPos);
Matrix3 inertiaTensor;
inertiaTensor.SetBlockInertiaTensor(Vector3(1,1,1), 1);
body->SetInertiaTensor(inertiaTensor);
// body->LoadModel("../../media/models/torus.obj");
body->LoadModel("../../media/models/cube.obj");
//matrix3 orientation = body->getorientation();
//orientation.createrotationmatrixaboutxaxis(45, &orientation);
//body->setorientation(orientation);
Quaternion orientation;
Vector3 rotationVec(1,1,1);
orientation.RotateByVector(rotationVec);
body->SetOrientation(orientation);
body->CalculateInternals();
//m_CollisionDetector->AddAABB(body->GetAABB());
/*
if(i==0)
{
body->AddForceAtBodyPoint(Vector3(10,10, 0),Point3(0,0,0));
}
else
{
body->AddForceAtBodyPoint(Vector3(-10,-10, 0),Point3(0,0,0));
}
*/
body->AddForceAtBodyPoint(Vector3(0,-90,0),Point3(0,0,0));
//body->CalculateInternals();
m_RigidBodies.push_back(body);
}
m_Plane = new CollisionPlane();
m_Plane->SetPoint(Point3(0,0,0));
m_Plane->SetNormal(Vector3(0,1,0));
m_Particle = new Particle();
m_Particle->SetPos(Point3(0,10,1));
m_Particle->SetVel(Vector3(0,-10,0));
/*
m_Triangle_0->SetPoint( Point3(1.0f,3.0f,0.0f), 0 );
m_Triangle_0->SetPoint( Point3(2.0f,1.0f,0.0f), 1 );
m_Triangle_0->SetPoint( Point3(2.0f,2.0f,0.0f), 2 );
*/
m_Triangle_0->SetPoint( Point3(0.3f,0.3f,0.0f), 0 );
m_Triangle_0->SetPoint( Point3(1.3f,1.3f,0.0f), 1 );
m_Triangle_0->SetPoint( Point3(2.3f,0.3f,0.0f), 2 );
m_Triangle_0->CreateEdges();
// m_Contact = new Contact();
}