/*******************************************************************************
Function to render a capsule, given its radius, length, position and orientation.
*******************************************************************************/
void GOdeObject::renderCapsule( const dReal radius, const dReal length, const dReal position[3], const dReal orientation[12] ) const
{
glPushMatrix(); //Save current ModelView.
double Matrix[16]; //OpenGL equivalen version of ODE orientation.
ODEToOpenGLMatrix( position, orientation, Matrix );
glMultMatrixd( Matrix );
glPushMatrix(); //Draw cylinder.
glScaled( radius, radius, length );
glTranslated( 0.0, 0.0, -0.5 );
GDrawing::drawCylinder();
glPopMatrix();
glTranslated( 0.0, 0.0, length/2.0 ); //Draw first cap.
glPushMatrix();
glScaled( radius, radius, radius );
GDrawing::drawSphere();
glPopMatrix();
glTranslated( 0.0, 0.0, -length ); //Draw second cap.
glScaled( radius, radius, radius );
GDrawing::drawSphere();
glPopMatrix();
}
void renderCapsule(const dReal radius, const dReal length, const dReal position[3], const dReal orientation[12])
{
glPushMatrix(); //Save current ModelView.
dReal Matrix[16]; //The OpenGL version of the transformation matrix.
//dReal newPos[3] = { position[0], position[1] - length/2, position[2] };
ODEToOpenGLMatrix(position, orientation, Matrix);
glMultMatrixd(Matrix);
dReal sphereR = .99 * radius;
glPushMatrix(); //Save current ModelView.
glTranslated(0, 0, length / 2);
glScaled(sphereR, sphereR, sphereR);
GDrawing::setColor( 66.0f/255.0f, 33.0f/255.0f, 0.0f/255.0f);
GDrawing::drawSphere();
glPopMatrix(); //unscaled and at top
glTranslated(0, 0, -length / 2);
glPushMatrix();
glScaled(radius, radius, length); //Scale to have the right measure in sides.
GDrawing::drawCylinder();
glPopMatrix(); //unscaled and at center
//glTranslated(0, 0, -length / 2);
glScaled(sphereR, sphereR, sphereR);
GDrawing::drawSphere();
glPopMatrix(); //Restore ModelView.
}
/*******************************************************************************
Function to render a sphere, given its radius, position and orientation.
*******************************************************************************/
void GOdeObject::renderSphere( const dReal radius, const dReal position[3], const dReal orientation[12] ) const
{
glPushMatrix(); //Save current ModelView.
dReal Matrix[16]; //OpenGL version of the transormation matrix.
ODEToOpenGLMatrix( position, orientation, Matrix );
glMultMatrixd( Matrix );
glScaled( radius, radius, radius ); //Scale to the sphere radius.
GDrawing::drawSphere();
glPopMatrix();
}
/*******************************************************************************
Function to render a box, given it sides length, position and orientation.
*******************************************************************************/
void GOdeObject::renderBox( const dReal sides[3], const dReal position[3], const dReal orientation[12] ) const
{
glPushMatrix(); //Save current ModelView.
dReal Matrix[16]; //The OpenGL version of the transformation matrix.
ODEToOpenGLMatrix( position, orientation, Matrix );
glMultMatrixd( Matrix );
glScaled( sides[0], sides[1], sides[2] ); //Scale to have the right measure in sides.
GDrawing::drawCube();
glPopMatrix(); //Restore ModelView.
}
void renderCylinder(const dReal radius, const dReal length, const dReal position[3], const dReal orientation[12])
{
glPushMatrix(); //Save current ModelView.
dReal Matrix[16]; //The OpenGL version of the transformation matrix.
//dReal newPos[3] = { position[0], position[1] - length/2, position[2] };
ODEToOpenGLMatrix(position, orientation, Matrix);
glMultMatrixd(Matrix);
glTranslated(0, 0, -length / 2);
glScaled(radius, radius, length); //Scale to have the right measure in sides.
GDrawing::setColor(0.25, 0.25, 0.25);
GDrawing::drawCylinder();
glPopMatrix(); //Restore ModelView.
}
/*******************************************************************************
Function to render a box, given it sides length, position and orientation.
*******************************************************************************/
void renderBox(const dReal sides[3], const dReal position[3], const dReal orientation[12], int colored = 0)
{
glPushMatrix(); //Save current ModelView.
dReal Matrix[16]; //The OpenGL version of the transformation matrix.
ODEToOpenGLMatrix(position, orientation, Matrix);
glMultMatrixd(Matrix);
glScaled(sides[0], sides[1], sides[2]); //Scale to have the right measure in sides.
if ( colored == 0 )
GDrawing::setColor(0.1f, 0.1f, 0.1f);
else if ( colored == 1 )
GDrawing::setColor(1.0f, 1.0f, 0.0f);
else if ( colored == 2 )
GDrawing::setColor(1.0f, 0.0f, 0.0f);
GDrawing::drawCube();
glPopMatrix(); //Restore ModelView.
}