source/SoPhysicsCapsule.cpp

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/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "../include/IPSA/SoPhysicsCapsule.h"
#include "../include/IPSA/SoCollisionShape.h"

SO_KIT_SOURCE(SoPhysicsCapsule);

void SoPhysicsCapsule::initClass()
{
                SO_KIT_INIT_CLASS(SoPhysicsCapsule, SoPhysicsCylinder, "PhysicsCylinder");
}


SoPhysicsCapsule::SoPhysicsCapsule(const SbString& nodeName /*=""*/)
: SoPhysicsCylinder(nodeName)
{
                SO_KIT_CONSTRUCTOR(SoPhysicsCapsule);
                isBuiltIn = TRUE;

                // TODO adapt for Capsule
//              SO_KIT_CHANGE_ENTRY_TYPE(visualisationShape, SoNode, SoCylinder);
//              SO_KIT_CHANGE_ENTRY_TYPE(collisionShape, SoCollisionShape, SoCollisionShapeCylinder);
//
//              SO_KIT_CHANGE_NULL_BY_DEFAULT(visualisationShape, FALSE);
//              SO_KIT_CHANGE_NULL_BY_DEFAULT(collisionShape, FALSE);

                SO_KIT_INIT_INSTANCE();

//    updateDependentObjectsTrigger.appendConnection(&);
}


dMass SoPhysicsCapsule::getInitialMass() {
                SbVec3f scaling = this->scale.getValue();

                //float r = this->radius.getValue(); //currently unused
                //float h = this->height.getValue(); //currently unused
                const float x = scaling[0];
                const float y = scaling[1];
                const float z = scaling[2];

                inertia.enableNotify(false);
                const float m = this->mass.getValue();
                const double a = 0.2 * m * ((y*y) + (z*z));
                const double b = 0.2 * m * ((x*x) + (z*z));
                const double c = 0.2 * m * ((y*y) + (x*x));
                this->inertia.set1Value(0,(float)a,0,0);
                this->inertia.set1Value(1,0,(float)b,0);
                this->inertia.set1Value(2,0,0,(float)c);
                inertia.enableNotify(true);
                const SbVec3f i0 = this->inertia[0];
                const SbVec3f i1 = this->inertia[1];
                const SbVec3f i2 = this->inertia[2];

                dMass mass;
                dMassSetParameters(&mass, m, 0,0,0, i0[0],i1[1],i2[2], i0[1],i0[2],i1[2]);

                return mass;
}


void SoPhysicsCapsule::updateDependentObjects()
{
    // TODO: draw a real capped cylinder, not just a cylinder
    SoPhysicsCylinder::updateDependentObjects();
}

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