X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?a=blobdiff_plain;f=src%2F3dengfx%2Fsrc%2Fsim%2Frigid.cpp;fp=src%2F3dengfx%2Fsrc%2Fsim%2Frigid.cpp;h=c528ae49201d4e78df564c10a5cd70eddb2d382c;hb=6e23259dbabaeb1711a2a5ca25b9cb421f693759;hp=0000000000000000000000000000000000000000;hpb=fe068fa879814784c45e0cb2e65dac489e8f5594;p=summerhack

diff --git a/src/3dengfx/src/sim/rigid.cpp b/src/3dengfx/src/sim/rigid.cpp
new file mode 100644
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...
+	}
+}