void CQTOpenGLCylinder::Draw(CCylinderEntity& c_entity) {
/* Draw the body */
if(c_entity.GetEmbodiedEntity().IsMovable()) {
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, MOVABLE_COLOR);
}
else {
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, NONMOVABLE_COLOR);
}
glPushMatrix();
glScalef(c_entity.GetRadius(), c_entity.GetRadius(), c_entity.GetHeight());
glCallList(m_unBodyList);
glPopMatrix();
}
void CQTOpenGLCylinder::DrawLEDs(CCylinderEntity& c_entity) {
/* Draw the LEDs */
GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
const GLfloat pfShininess[] = { 100.0f };
const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
CLEDEquippedEntity& cLEDEquippedEntity = c_entity.GetLEDEquippedEntity();
for(UInt32 i = 0; i < cLEDEquippedEntity.GetLEDs().size(); ++i) {
glPushMatrix();
/* Set the material */
const CColor& cColor = cLEDEquippedEntity.GetLED(i).GetColor();
pfColor[0] = cColor.GetRed() / 255.0f;
pfColor[1] = cColor.GetGreen() / 255.0f;
pfColor[2] = cColor.GetBlue() / 255.0f;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
/* Perform rototranslation */
const CVector3& cPosition = cLEDEquippedEntity.GetLEDOffset(i);
glTranslatef(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
/* Draw the LED */
glCallList(m_unLEDList);
glPopMatrix();
}
}
void ApplyTo(CQTOpenGLWidget& c_visualization,
CCylinderEntity& c_entity) {
static CQTOpenGLCylinder m_cModel;
c_visualization.DrawEntity(c_entity.GetEmbodiedEntity());
m_cModel.Draw(c_entity);
m_cModel.DrawLEDs(c_entity);
}
CDynamics3DCylinderModel::CDynamics3DCylinderModel(CDynamics3DEngine& c_engine,
CCylinderEntity& c_cylinder) :
CDynamics3DSingleBodyObjectModel(c_engine, c_cylinder),
m_pcBody(nullptr) {
/* Fetch a collision shape for this model */
std::shared_ptr<btCollisionShape> ptrShape =
CDynamics3DShapeManager::RequestBox(
btVector3(c_cylinder.GetRadius(),
c_cylinder.GetHeight() * 0.5f,
c_cylinder.GetRadius()));
/* Get the origin anchor */
SAnchor& sAnchor = c_cylinder.GetEmbodiedEntity().GetOriginAnchor();
const CQuaternion& cOrientation = sAnchor.Orientation;
const CVector3& cPosition = sAnchor.Position;
/* Calculate the start transform */
const btTransform& cStartTransform = btTransform(
btQuaternion(cOrientation.GetX(),
cOrientation.GetZ(),
-cOrientation.GetY(),
cOrientation.GetW()),
btVector3(cPosition.GetX(),
cPosition.GetZ(),
-cPosition.GetY()));
/* Calculate the center of mass offset */
const btTransform& cCenterOfMassOffset = btTransform(
btQuaternion(0.0f, 0.0f, 0.0f, 1.0f),
btVector3(0.0f, -c_cylinder.GetHeight() * 0.5f, 0.0f));
/* Initialize mass and inertia to zero (static object) */
Real fMass = 0.0f;
btVector3 cInertia(0.0f, 0.0f, 0.0f);
/* If the cylinder is movable calculate its mass and inertia */
if(c_cylinder.GetEmbodiedEntity().IsMovable()) {
fMass = c_cylinder.GetMass();
ptrShape->calculateLocalInertia(fMass, cInertia);
}
/* Use the default friction */
btScalar fFriction = GetEngine().GetDefaultFriction();
/* Set up the body */
CBody* m_pcBody = new CBody(*this,
sAnchor,
ptrShape,
CBody::SData(cStartTransform,
cCenterOfMassOffset,
cInertia,
fMass,
fFriction));
/* Transfer the body to the base class */
m_vecBodies.push_back(m_pcBody);
/* Synchronize with the entity in the space */
UpdateEntityStatus();
}
CDynamics2DCylinderEntity::CDynamics2DCylinderEntity(CDynamics2DEngine& c_engine,
CCylinderEntity& c_entity) :
CDynamics2DEntity(c_engine, c_entity.GetEmbodiedEntity()),
m_cCylinderEntity(c_entity),
m_fMass(c_entity.GetMass()),
m_ptShape(NULL),
m_ptBody(NULL) {
/* Get the radius of the entity */
Real fRadius = c_entity.GetRadius();
m_fHalfHeight = c_entity.GetHeight() * 0.5f;
/* Create a circle object in the physics space */
const CVector3& cPosition = GetEmbodiedEntity().GetPosition();
if(c_entity.IsMovable()) {
/* The cylinder is movable */
/* Create the body */
m_ptBody = cpSpaceAddBody(m_cEngine.GetPhysicsSpace(),
cpBodyNew(m_fMass,
cpMomentForCircle(m_fMass,
0,
fRadius + fRadius,
cpvzero)));
m_ptBody->p = cpv(cPosition.GetX(), cPosition.GetY());
CRadians cXAngle, cYAngle, cZAngle;
GetEmbodiedEntity().GetOrientation().ToEulerAngles(cZAngle, cYAngle, cXAngle);
cpBodySetAngle(m_ptBody, cZAngle.GetValue());
/* Create the geometry */
m_ptShape = cpSpaceAddShape(m_cEngine.GetPhysicsSpace(),
cpCircleShapeNew(m_ptBody, fRadius, cpvzero));
/* This object is grippable */
m_ptShape->collision_type = CDynamics2DEngine::SHAPE_GRIPPABLE;
m_ptShape->data = reinterpret_cast<void*>(&c_entity);
/* No elasticity */
m_ptShape->e = 0.0;
/* Lots surface contact friction to help pushing */
m_ptShape->u = 0.7;
/* Friction with ground */
m_ptLinearFriction =
cpSpaceAddConstraint(m_cEngine.GetPhysicsSpace(),
cpPivotJointNew2(m_cEngine.GetGroundBody(),
m_ptBody,
cpvzero,
cpvzero));
m_ptLinearFriction->biasCoef = 0.0f; // disable joint correction
m_ptLinearFriction->maxForce = 1.0f; // emulate linear friction
m_ptAngularFriction =
cpSpaceAddConstraint(m_cEngine.GetPhysicsSpace(),
cpGearJointNew(m_cEngine.GetGroundBody(),
m_ptBody,
0.0f,
1.0f));
m_ptAngularFriction->biasCoef = 0.0f; // disable joint correction
m_ptAngularFriction->maxForce = 5.0f; // emulate angular friction
}
else {
/* The cylinder is not movable */
/* Create the geometry */
m_ptShape = cpSpaceAddStaticShape(m_cEngine.GetPhysicsSpace(),
cpCircleShapeNew(m_cEngine.GetGroundBody(),
fRadius,
cpv(cPosition.GetX(), cPosition.GetY())));
/* This object is normal */
m_ptShape->collision_type = CDynamics2DEngine::SHAPE_NORMAL;
m_ptShape->data = reinterpret_cast<void*>(&c_entity);
/* No elasticity */
m_ptShape->e = 0.0;
/* Little contact friction to help sliding away */
m_ptShape->u = 0.1;
}
}
void CDynamics3DRemoveVisitor::Visit(CCylinderEntity& c_entity) {
m_cEngine.RemovePhysicsEntity(c_entity.GetId());
}
void ApplyTo(CQTOpenGLWidget& c_visualization,
CCylinderEntity& c_entity) {
c_visualization.DrawBoundingBox(c_entity.GetEmbodiedEntity());
}