spherecollider.cpp

ROBOCUP 仿真3D server 源码

/* -*- mode: c++ -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2003 Koblenz University
   $Id: spherecollider.cpp,v 1.5 2004/04/15 18:33:15 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program 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 General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "spherecollider.h"

using namespace oxygen;
using namespace salt;

SphereCollider::SphereCollider() : Collider()
{
}

void
SphereCollider::SetRadius(float r)
{
    dGeomSphereSetRadius(mODEGeom, r);
}

float
SphereCollider::GetRadius() const
{
    return dGeomSphereGetRadius(mODEGeom);
}

bool
SphereCollider::ConstructInternal()
{
    if (! Collider::ConstructInternal())
    {
        return false;
    }

    // create a unit sphere
    mODEGeom = dCreateSphere(0, 1.0f);

    return (mODEGeom != 0);
}

float
SphereCollider::GetPointDepth(const Vector3f& pos)
{
  Vector3f worldPos(GetWorldTransform() * pos);
  return dGeomSpherePointDepth
    (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
}