oasismass.cpp

使用stl技术,(还没看,是听说的)

/******************************************************************************
 * This source file is part of Bad Camel Gaming
 * Copyright (C) 2003  Zephie Greyvenstein
 * See Readme.html for acknowledgements
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *****************************************************************************/

/******************************************************************************
 * FILENAME    : oasisMass.cpp
 * DESCRIPTION : A mass object
 * AUTHOR      : Zephie Greyvenstein
 *****************************************************************************/

#include "oasisMass.h"
#include "oasisPhysics.h"
#include "oasisConvert.h"
#include "oasisPhysicsCommon.h"

#include "OgreMatrix3.h"

namespace Oasis {
  
  mass::mass( ) {
    /// Set some defaults
    parent = NULL;
    odeMass = new dMass( );       
    setSphere( 0.01, 0.01 );
  }

  mass::~mass( ) {
    if ( odeMass ) {
      delete odeMass;
      odeMass = NULL;
    }
  }

  void mass::setBox( real newDensity, real newLength,
         real newHeight, real newDepth ) {
    dMassSetBox( odeMass, newDensity, newLength, newHeight, newDepth );
    
    length = newLength;
    height = newHeight;
    depth = newDepth;  
    density = newDensity;

    radius = 0;

    type = MT_BOX;
    _reAssignToParent( );
  }

  void mass::setSphere( real newDensity, real newRadius ) {
    dMassSetSphere( odeMass, newDensity, newRadius );
    
    radius = newRadius;
    density = newDensity;

    length = 0;
    height = 0;
    depth = 0;  

    type = MT_SPHERE;
    _reAssignToParent( );
  }

  void mass::setCCylinder( real newDensity, 
         real newRadius,
         real newLength ) {      
    dMassSetCappedCylinder( odeMass, newDensity, 3, newRadius, newLength );
    
    radius = newRadius;
    length = newLength;
    density = newDensity;

    height = 0;
    depth = 0;  

    type = MT_CCYLINDER;
    _reAssignToParent( );
  } 

  void mass::setCylinder( real newDensity, 
        real newRadius,
        real newLength ) {      
    dMassSetCylinder( odeMass, newDensity, 3, newRadius, newLength );
    
    radius = newRadius;
    length = newLength;
    density = newDensity;

    height = 0;
    depth = 0;  

    type = MT_CYLINDER;
    _reAssignToParent( );
  } 

  const mass::MassType mass::getType( void ) const {
    return type;
  }

  const real mass::getDensity( void ) const {
    return density;
  }

  const real mass::getLength( void ) const {
    return length;
  }

  const real mass::getHeight( void ) const {
    return height;
  }
  
  const real mass::getDepth( void ) const {
    return depth;
  }

  const real mass::getRadius( void ) const {
    return radius;
  }
 
  void mass::copyParameters( const mass *otherMass ) {   
    switch ( otherMass->getType( ) ) {
    case MT_BOX:     
      setBox( otherMass->getDensity( ),
        otherMass->getLength( ),
        otherMass->getHeight( ),
        otherMass->getDepth( ) );
      break;
    case MT_SPHERE:
      setSphere( otherMass->getDensity( ),
     otherMass->getRadius( ) );
      break;
    case MT_CCYLINDER:
      setCCylinder( otherMass->getDensity( ),
        otherMass->getLength( ),
        otherMass->getRadius( ) );
      break;
    case MT_CYLINDER:
      setCylinder( otherMass->getDensity( ),
       otherMass->getLength( ),
       otherMass->getRadius( ) );
      break;
    };
  }
 
  void mass::setODEBodyParent( dBody *newParent ) {
    parent = newParent;
    _reAssignToParent( );
  }

  void mass::_reAssignToParent( void ) {
    if ( parent ) {
      parent->setMass( odeMass );
      dMatrix3 mat3;
      dQtoR( parent->getQuaternion( ), mat3 );
      dMassRotate( odeMass, mat3 );
    }
  }
}