source/SoPhysicsTorus.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/SoPhysicsTorus.h"
#include "../include/IPSA/SoCollisionShape.h"


SO_KIT_SOURCE(SoPhysicsTorus);

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


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

                SO_KIT_ADD_FIELD(radius,(1.0f));
                SO_KIT_ADD_FIELD(tuberadius,(0.2f));

                SO_KIT_INIT_INSTANCE();

                updateDependentObjectsTrigger.appendConnection(&radius);
                updateDependentObjectsTrigger.appendConnection(&tuberadius);
}


dMass SoPhysicsTorus::getInitialMass() {
                printf("initalMass of SoPhysicsTorus\n");
                SbVec3f scaling = this->scale.getValue();
                //Kein Scaling!!!!
                //float x = scaling[0];
                //float y = scaling[1];
                //float z = scaling[2];

                inertia.enableNotify(false);
                float m = this->mass.getValue();
                float r = this->radius.getValue();
                float rt = this->tuberadius.getValue();
                float a = (m/8.0f) * (5*(r*r) + 4*(rt*rt));
                float c = (3*m /(4.0f)) * ((r*r) + (rt*rt));
                this->inertia.set1Value(0,a,0,0);
                this->inertia.set1Value(1,0,a,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;
}

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