source: code/branches/physics/src/ogreode/OgreOdeMass.cpp @ 1923

#include "OgreOdePrecompiledHeaders.h"
#include "OgreOdeMass.h"

#include <OgreMatrix3.h>
#include <OgreVector3.h>
#include <OgreQuaternion.h>

using namespace OgreOde;
using namespace Ogre;

Mass::Mass()
{
        dMassSetZero(&_mass); 
}

Mass::Mass(Real mass,const Ogre::Vector3& center_of_gravity,const Matrix3& intertia_matrix)
{
        dMassSetParameters
        (
                &_mass,
                (dReal)mass,
                (dReal)center_of_gravity.x,(dReal)center_of_gravity.y,(dReal)center_of_gravity.z,
                (dReal)intertia_matrix[0][0],(dReal)intertia_matrix[1][1],(dReal)intertia_matrix[2][2],
                (dReal)intertia_matrix[0][1],(dReal)intertia_matrix[0][2],(dReal)intertia_matrix[1][2]
        ); 
}

Mass::~Mass()
{
}

void Mass::adjust(Real mass)
{
        dMassAdjust(&_mass,(dReal)mass); 
}

void Mass::translate(const Ogre::Vector3& offset)
{
        dMassTranslate(&_mass,offset.x,offset.y,offset.z); 
}

void Mass::rotate(const Ogre::Quaternion& orientation)
{
        Matrix3 m;
        orientation.ToRotationMatrix(m);
        dMatrix3 r;

        r[0] = m[0][0];
        r[1] = m[0][1];
        r[2] = m[0][2];

        r[3] = m[1][0];
        r[4] = m[1][1];
        r[5] = m[1][2];

        r[6] = m[2][0];
        r[7] = m[2][1];
        r[8] = m[2][2];

        r[9] = 0.0;
        r[10] = 0.0;
        r[11] = 0.0;

        dMassRotate(&_mass,r); 
}

Ogre::Real Mass::getMassValue() const
{
        return _mass.mass;
}

Ogre::Vector3 Mass::getCenterOfGravity() const
{
        // not sure why its a dVector4 in dMass and not a dVector3
        // and I think ode requires the center of mass to be the bodies position so this 
        // would always return Vector3::ZERO
        return Vector3(_mass.c[0], _mass.c[1], _mass.c[2]);
}



Ogre::Matrix3 Mass::getLocalInertiaTensor() const
{
        return Ogre::Matrix3(   
                _mass.I[0], _mass.I[1], _mass.I[2],
                _mass.I[4], _mass.I[5], _mass.I[6],
                _mass.I[8], _mass.I[9], _mass.I[10]);
}
void Mass::add(const Mass& other)
{
        dMassAdd(&_mass,&(other._mass)); 
}

const dMass* Mass::getMassPtr() const
{
        return &_mass;
}

SphereMass::SphereMass():Mass()
{
}

SphereMass::SphereMass(Real mass,Real radius)
{
        dMassSetSphereTotal(&_mass,(dReal)mass,(dReal)radius); 
}

SphereMass::~SphereMass()
{
}

void SphereMass::setDensity(Real density,Real radius)
{
        dMassSetSphere(&_mass,(dReal)density,(dReal)radius); 
}

CapsuleMass::CapsuleMass():Mass()
{
}

CapsuleMass::CapsuleMass(Real mass,Real radius,const Ogre::Vector3& direction,Real length)
{
        int dir = (direction == Ogre::Vector3::UNIT_X)?1:(direction == Ogre::Vector3::UNIT_Y)?2:(direction == Ogre::Vector3::UNIT_Z)?3:0;
        assert(dir);
        dMassSetCappedCylinderTotal(&_mass,(dReal)mass,dir,(dReal)radius,(dReal)length); 
}

CapsuleMass::~CapsuleMass()
{
}

void CapsuleMass::setDensity(Real density,Real radius,const Ogre::Vector3& direction,Real length)
{
        int dir = (direction == Ogre::Vector3::UNIT_X)?1:(direction == Ogre::Vector3::UNIT_Y)?2:(direction == Ogre::Vector3::UNIT_Z)?3:0;
        assert(dir && "Invalid direction specified for CapsuleMass");
        dMassSetCappedCylinder(&_mass,(dReal)density,dir,(dReal)radius,(dReal)length); 
}

CylinderMass::CylinderMass():Mass()
{
}

CylinderMass::CylinderMass(Real mass,const Ogre::Vector3& direction,Real radius,Real length)
{
        int dir = (direction == Ogre::Vector3::UNIT_X)?1:(direction == Ogre::Vector3::UNIT_Y)?2:(direction == Ogre::Vector3::UNIT_Z)?3:0;
        assert(dir);
        dMassSetCylinderTotal(&_mass,(dReal)mass,dir,(dReal)radius,(dReal)length); 
}

CylinderMass::~CylinderMass()
{
}

void CylinderMass::setDensity(Real density,const Ogre::Vector3& direction,Real radius,Real length)
{
        int dir = (direction == Ogre::Vector3::UNIT_X)?1:(direction == Ogre::Vector3::UNIT_Y)?2:(direction == Ogre::Vector3::UNIT_Z)?3:0;
        assert(dir);
        dMassSetCylinder(&_mass,(dReal)density,dir,(dReal)radius,(dReal)length); 
}

BoxMass::BoxMass():Mass()
{
}

BoxMass::BoxMass(Real mass,const Ogre::Vector3& size)
{
        dMassSetBoxTotal(&_mass,(dReal)mass,(dReal)size.x,(dReal)size.y,(dReal)size.z);
}

BoxMass::~BoxMass()
{
}

void BoxMass::setDensity(Real density,const Ogre::Vector3& size)
{
        dMassSetBox(&_mass,(dReal)density,(dReal)size.x,(dReal)size.y,(dReal)size.z); 
}