void CreateBoxContainerDEM(ChSystem* system,
int id,
ChSharedPtr<ChMaterialSurfaceDEM>& mat,
const ChVector<>& hdim,
double hthick,
const ChVector<>& pos,
const ChQuaternion<>& rot,
bool collide)
{
// Create the body and set material
ChBodyDEM* body;
body = new ChBodyDEM();
body->SetMaterialSurfaceDEM(mat);
// Set body properties and geometry.
body->SetIdentifier(id);
body->SetMass(1);
body->SetPos(pos);
body->SetRot(rot);
body->SetCollide(collide);
body->SetBodyFixed(true);
body->GetCollisionModel()->ClearModel();
AddBoxGeometry(body, ChVector<>(hdim.x, hdim.y, hthick), ChVector<>(0, 0, -hthick));
AddBoxGeometry(body, ChVector<>(hthick, hdim.y, hdim.z), ChVector<>(-hdim.x-hthick, 0, hdim.z));
AddBoxGeometry(body, ChVector<>(hthick, hdim.y, hdim.z), ChVector<>( hdim.x+hthick, 0, hdim.z));
AddBoxGeometry(body, ChVector<>(hdim.x, hthick, hdim.z), ChVector<>(0, -hdim.y-hthick, hdim.z));
AddBoxGeometry(body, ChVector<>(hdim.x, hthick, hdim.z), ChVector<>(0, hdim.y+hthick, hdim.z));
body->GetCollisionModel()->BuildModel();
// Attach the body to the system.
system->AddBody(ChSharedPtr<ChBodyDEM>(body));
}
void TSRODERigidBody::AddWorldOBBCollision( TSRPhysicsWorld* _pWorldInterface, const TSRMatrix4& _worldTransform, const TSRVector3& _vObbMin, const TSRVector3& _vObbMax, float _fDensity )
{
TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface;
TSRMatrix4 geomWorldMatrix = _worldTransform;
TSRVector3 obbExtents;
WorldOBBMinMaxToWorldOBBExtents( _worldTransform, _vObbMin, _vObbMax, geomWorldMatrix, obbExtents );
TSRMatrix4 bodyWorldMatrix;
const float* pBodyPosition = dBodyGetPosition( m_BodyID );
const float* pBodyRotation = dBodyGetRotation( m_BodyID );
ODEToMatrix4( bodyWorldMatrix, pBodyPosition, pBodyRotation );
TSRMatrix4 invBodyTransform;
Matrix4Inverse( bodyWorldMatrix, invBodyTransform );
TSRMatrix4 bodyToGeomMatrix;
bodyToGeomMatrix = geomWorldMatrix * invBodyTransform;
AddBoxGeometry( _pWorld, bodyToGeomMatrix, obbExtents, _fDensity );
}