source/SoPhysicsCylinder.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/SoPhysicsCylinder.h"
#include "../include/IPSA/SoCollisionShapeCylinder.h"

#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/SbLinear.h>

SO_KIT_SOURCE(SoPhysicsCylinder);

void SoPhysicsCylinder::initClass()
{
                SO_KIT_INIT_CLASS(SoPhysicsCylinder, SoPhysics, "Physics");
}


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

                SO_KIT_ADD_FIELD(radius,(1.0f));
                SO_KIT_ADD_FIELD(height,(1.0f));

                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(&radius);
    updateDependentObjectsTrigger.appendConnection(&height);

                CoinRefTransform.setRotate(SbRotation(SbVec3f(1,0,0),(float)(M_PI/2)));
}

dMass SoPhysicsCylinder::getInitialMass() {
                //Elliptical Slab

                float m = this->mass.getValue();
                float r = this->radius.getValue();
                float l = this->height.getValue();
                SbVec3f scaling = this->scale.getValue();

                float x = scaling[0] * r;
                float y = scaling[1] * r;
                float h = scaling[2] * l;

                inertia.enableNotify(false);
                float a = (m/6.0f) * (3*(y*y) + 4*(h*h));
                float b = (m/6.0f) * (3*(x*x) + 4*(h*h));
                float c = 0.5f * m * ((y*y) + (x*x));
                this->inertia.set1Value(0,a,0,0);
                this->inertia.set1Value(1,0,b,0);
                this->inertia.set1Value(2,0,0,c);
                inertia.enableNotify(true);
                SbVec3f i0 = this->inertia[0];
                SbVec3f i1 = this->inertia[1];
                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 SoPhysicsCylinder::updateDependentObjects()
{
                // the dynamic_cast returns a NULL pointer if the cast fails
                SoCylinder* visShape = dynamic_cast<SoCylinder*>(this->getPart("visualisationShape", FALSE));
                if (NULL != visShape)
                {
                                visShape->radius.setValue(radius.getValue());
                                visShape->height.setValue(height.getValue());
                }

                if (FALSE == AUTO_UPDATE_COLLISION_SHAPE.getValue())
                                return;

                // the dynamic_cast returns a NULL pointer if the cast fails
                SoCollisionShapeCylinder* cShape = dynamic_cast<SoCollisionShapeCylinder*> (this->getPart("collisionShape", FALSE));
                if (NULL != cShape)
                {
                                cShape->radius.setValue(radius.getValue());
                                cShape->height.setValue(height.getValue());
                }
}

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