void PhysicsNode::render(AbstractRender *render) const {
if (render_body) {
if (body->getBody() == Nutmeg::BODY_CAPSULE) {
vec3 size = body->getSize();
float diameter = math::min(size.x, size.y);
float height = size.z;
renderCapsule(getScene(), render, diameter, height, getPos(true), getRot(true));
} else {
render->setMatrix(origin);
render->drawMesh(scene->getPrimitive(body->getBody()));
}
}
/*
if (render_body) {
//mat4 matrix;
//body->getMatrix(matrix);
//matrix = mat4::scale(scale) * matrix;
//render->setMatrix(matrix);
render->setMatrix(origin);
render->drawMesh(scene->getPrimitive(body->getBody()));
}
*/
}
void drawGeom( dGeomID g, int colored = 0 )
{
if( !g ) //If the geometry object is missing, end the function.
return;
const dReal *position; //Define pointers to internal positions and orientations.
const dReal *orientation; //Pointers to constant objects (so the objects will not change).
int type = dGeomGetClass( g ); //Get the type of geometry.
position = dGeomGetPosition( g ); //Then, get the geometry position.
orientation = dGeomGetRotation( g ); //And get existing geometry orientation.
if( type == dBoxClass ) //Is it a box?
{
dReal sides[3];
dGeomBoxGetLengths( g, sides ); //Get length of sides.
renderBox( sides, position, orientation, colored ); //Render the actual box in environment.
}
else if (type == dCylinderClass)
{
dReal radius, length;
dGeomCylinderGetParams(g, &radius, &length);
renderCylinder(radius, length, position, orientation);
}
else if (type == dCapsuleClass)
{
dReal radius, length;
dGeomCapsuleGetParams(g, &radius, &length);
renderCapsule(radius, length, position, orientation);
}
}
/*******************************************************************************
Function to draw a geometry object.
*******************************************************************************/
void GOdeObject::drawGeom( dGeomID g, const dReal *position, const dReal *orientation ) const
{
if( !g ) //If the geometry object is missing, end the function.
return;
if( !position ) //Position was not passed?
position = dGeomGetPosition( g ); //Then, get the geometry position.
if( !orientation ) //Orientation was not given?
orientation = dGeomGetRotation( g ); //And get existing geometry orientation.
int type = dGeomGetClass( g ); //Get the type of geometry.
if( type == dBoxClass ) //Is it a box?
{
dReal sides[3];
dGeomBoxGetLengths( g, sides ); //Get length of sides.
renderBox( sides, position, orientation ); //Render the actual box in environment.
}
if( type == dSphereClass ) //Is it a sphere?
{
dReal radius;
radius = dGeomSphereGetRadius( g ); //Get the radius.
renderSphere( radius, position, orientation ); //Render sphere in environment.
}
if( type == dCapsuleClass )
{
dReal radius;
dReal length;
dGeomCapsuleGetParams( g, &radius, &length ); //Get both radius and length.
renderCapsule( radius, length, position, orientation ); //Render capsule in environment.
}
if( type == dGeomTransformClass ) //Is it an embeded geom in a composite body.
{
dGeomID g2 = dGeomTransformGetGeom( g ); //Get the actual geometry inside the wrapper.
const dReal *position2 = dGeomGetPosition( g2 ); //Get position and orientation of wrapped geometry.
const dReal *orientation2 = dGeomGetRotation( g2 );
dVector3 actualPosition; //Real world coordinated position and orientation
dMatrix3 actualOrientation; //of the wrapped geometry.
dMultiply0_331( actualPosition, orientation, position2 ); //Get world coordinates of geometry position.
actualPosition[0] += position[0];
actualPosition[1] += position[1];
actualPosition[2] += position[2];
dMultiply0_333( actualOrientation, orientation, orientation2 ); //Get world coordinates of geom orientation.
drawGeom( g2, actualPosition, actualOrientation ); //Draw embeded geometry.
}
}
void PhysicsNode::renderHelper(AbstractRender *render, bool selected) const {
vec3 color = render->getColor();
if (selected) {
} else {
if (render_body) return;
render->setColor(vec3(0.5f, 0.2f, 1.0f), render->getAlpha());
}
if (this->body->getBody() == Nutmeg::BODY_CAPSULE) {
vec3 size = body->getSize();
float diameter = math::min(size.x, size.y);
float height = size.z;
renderCapsule(getScene(), render, diameter, height, pos, rot, true);
} else {
mat4 m;
body->getMatrix(m);
m = mat4::scale(body->getSize()) * m;
render->setMatrix(m);
render->drawMesh(scene->getPrimitive(body->getBody()), true);
}
if (selected == false) {
render->setColor(color, render->getAlpha());
}
}
