added 3dengfx into the repo, probably not the correct version for this

[summerhack] / src / 3dengfx / src / sim / rigid.cpp

diff --git a/src/3dengfx/src/sim/rigid.cpp b/src/3dengfx/src/sim/rigid.cpp
new file mode 100644 (file)
index 0000000..c528ae4
--- /dev/null
+++ b/src/3dengfx/src/sim/rigid.cpp
@@ -0,0 +1,105 @@
+/*
+This file is part of the simulation module of 3dengfx.
+
+Copyright (c) 2005 John Tsiombikas <nuclear@siggraph.org>
+
+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; either version 2 of the License, or
+(at your option) any later version.
+
+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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#include "rigid.hpp"
+#include <ode/ode.h>
+
+RigidBody::RigidBody(dWorldID world) {
+       body = dBodyCreate(world);
+}
+
+RigidBody::~RigidBody() {
+       dBodyDestroy(body);
+}
+
+void RigidBody::enable() {
+       dBodyEnable(body);
+}
+
+void RigidBody::disable() {
+       dBodyDisable(body);
+}
+
+void RigidBody::set_position(const Vector3 &pos, unsigned long time) {
+       dBodySetPosition(body, pos.x, pos.y, pos.z);
+       Object::set_position(pos, time);
+}
+
+#define MAT3_TO_ODE(m, o)\
+       for(int i=0; i<3; i++) {\
+               for(int j=0; j<3; j++) {\
+                       dACCESS33(o, i, j) = m[i][j];\
+               }\
+       }
+
+
+void RigidBody::set_rotation(const Quaternion &rot, unsigned long time) {
+       Matrix3x3 mat = rot.get_rotation_matrix();
+       dMatrix3 ode_mat;
+       MAT3_TO_ODE(mat, ode_mat);
+       dBodySetRotation(body, ode_mat);
+       Object::set_rotation(rot, time);
+}
+
+void RigidBody::set_rotation(const Vector3 &euler, unsigned long time) {
+       Matrix3x3 mat;
+       dMatrix3 ode_mat;
+       mat.set_rotation(euler);
+       MAT3_TO_ODE(mat, ode_mat);
+       dBodySetRotation(body, ode_mat);
+       Object::set_rotation(euler, time);
+}
+
+void RigidBody::translate(const Vector3 &trans, unsigned long time) {
+}
+
+void RigidBody::rotate(const Quaternion &rot, unsigned long time) {
+}
+
+void RigidBody::rotate(const Vector3 &euler, unsigned long time) {
+}
+
+void RigidBody::rotate(const Matrix3x3 &rmat, unsigned long time) {
+}
+
+RigidSim::RigidSim() {
+       world = dWorldCreate();
+
+       set_gravity(Vector3(0, -9.81, 0));
+}
+
+RigidSim::~RigidSim() {
+       dWorldDestroy(world);
+}
+
+void RigidSim::run(unsigned long msec) {
+       dWorldStep(world, timeslice);
+}
+
+void RigidSim::set_gravity(const Vector3 &gvec) {
+       dWorldSetGravity(world, gvec.x, gvec.y, gvec.z);
+}
+
+void RigidSim::add_object(Object *obj) {
+       if(obj) {
+               obj_list.push_back(obj);
+               // TODO: cont. here...
+       }
+}