VerletCapsuleShape::VerletCapsuleShape(VerletPoint* startPoint, VerletPoint* endPoint) :
CapsuleShape(), _startPoint(startPoint), _endPoint(endPoint), _startLagrangeCoef(0.5f), _endLagrangeCoef(0.5f) {
assert(startPoint);
assert(endPoint);
_halfHeight = 0.5f * glm::distance(_startPoint->_position, _endPoint->_position);
updateBoundingRadius();
}
void CapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
glm::vec3 axis = endPoint - startPoint;
_translation = 0.5f * (endPoint + startPoint);
float height = glm::length(axis);
if (height > EPSILON) {
_halfHeight = 0.5f * height;
axis /= height;
_rotation = computeNewRotation(axis);
}
updateBoundingRadius();
}
CapsuleShape::CapsuleShape(float radius, const glm::vec3& startPoint, const glm::vec3& endPoint) :
Shape(Shape::CAPSULE_SHAPE), _radius(radius), _halfHeight(0.f) {
glm::vec3 axis = endPoint - startPoint;
float height = glm::length(axis);
if (height > EPSILON) {
_halfHeight = 0.5f * height;
axis /= height;
glm::vec3 yAxis(0.f, 1.f, 0.f);
float angle = glm::angle(axis, yAxis);
if (angle > EPSILON) {
axis = glm::normalize(glm::cross(yAxis, axis));
_rotation = glm::angleAxis(angle, axis);
}
}
updateBoundingRadius();
}
void CapsuleShape::setRadiusAndHalfHeight(float radius, float halfHeight) {
_radius = radius;
_halfHeight = halfHeight;
updateBoundingRadius();
}
void CapsuleShape::setHalfHeight(float halfHeight) {
_halfHeight = halfHeight;
updateBoundingRadius();
}
void CapsuleShape::setRadius(float radius) {
_radius = radius;
updateBoundingRadius();
}
CapsuleShape::CapsuleShape(float radius, float halfHeight, const glm::vec3& position, const glm::quat& rotation) :
Shape(Shape::CAPSULE_SHAPE, position, rotation), _radius(radius), _halfHeight(halfHeight) {
updateBoundingRadius();
}
CapsuleShape::CapsuleShape(float radius, float halfHeight) : Shape(Shape::CAPSULE_SHAPE),
_radius(radius), _halfHeight(halfHeight) {
updateBoundingRadius();
}
// virtual
void VerletCapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
_startPoint->_position = startPoint;
_endPoint->_position = endPoint;
updateBoundingRadius();
}