TAPsPointMassDynamicWithQuaternionRotation.cpp

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/******************************************************************************
TAPsPointMassDynamicWithQuaternionRotation.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (08/12/2010)
UPDATE          (09/21/2010)
******************************************************************************/
#include "TAPsPointMassDynamicWithQuaternionRotation.hpp"
// Using Inclusion Model (i.e. definitions are included in declarations)
//                       (this name.cpp is included in name.hpp)
// Each friend is defined directly inside its declaration.

BEGIN_NAMESPACE_TAPs
//=============================================================================
// Constructors and Destructor
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::PointMassDynamicWithQuaternionRotation ( bool bRandomValue )
{
    bRandomValue ? RandomValues() : DefaultValues();
    m_Type = TYPE_DYNAMIC_WITH_ORIENTATION;
}
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::PointMassDynamicWithQuaternionRotation
( 
    T                   mass,
    T                   radius,
    Vector3<T> const &  position,
    Vector3<T> const &  velocity,
    Vector3<T> const &  acceleration,
    Vector3<T> const &  force,
    Quaternion<T> const &   rotation,
    DS::SimulationFlags const & flags
)   : PointMassDynamic<T>( mass, size, position, velocity, acceleration, force, flags )
    , m_QuaternionRotation( rotation )
{
    m_Type = TYPE_DYNAMIC_WITH_ORIENTATION;
}
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::PointMassDynamicWithQuaternionRotation ( PointMassDynamicWithQuaternionRotation<T> const & P )
    : PointMassDynamic<T>( P )
    , m_QuaternionRotation( P.m_QuaternionRotation )
{
    m_Type = TYPE_DYNAMIC_WITH_ORIENTATION;
}
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::PointMassDynamicWithQuaternionRotation ( Vector3<T> const & location )
    : PointMassDynamic<T>( location )
{
    m_Type = TYPE_DYNAMIC_WITH_ORIENTATION;
}
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::PointMassDynamicWithQuaternionRotation ( T const location[3] )
    : PointMassDynamic<T>( location )
{
    m_Type = TYPE_DYNAMIC_WITH_ORIENTATION;
}
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::PointMassDynamicWithQuaternionRotation ( T locX, T locY, T locZ )
    : PointMassDynamic<T>( locX, locY, locZ )
{
    m_Type = TYPE_DYNAMIC_WITH_ORIENTATION;
}
//-----------------------------------------------------------------------------
// PointMassDynamicWithQuaternionRotation Destructor
template <typename T>
PointMassDynamicWithQuaternionRotation<T>::~PointMassDynamicWithQuaternionRotation ()
{}
//-----------------------------------------------------------------------------
template <typename T>
std::string PointMassDynamicWithQuaternionRotation<T>::StrInfo () const
{
    std::stringstream ss;
    ss  << "PointMassDynamicWithQuaternionRotation<" << typeid(T).name() << "> ==> "
        << "\n  Mass:         " << GetMass()
        << "\n  Position:     " << GetPosition()
        << "\n  Velocity:     " << GetVelocity()
        << "\n  Acceleration: " << GetAcceleration()
        << "\n  Force:        " << GetForce()
        << "\n  QuaternionRotation: " << GetQuaternionRotation()
        << "\n  Simulation Flags:   " << GetFlags()
        << "\n";
    return ss.str();
}
//-----------------------------------------------------------------------------

//=============================================================================
// PointMassDynamicWithQuaternionRotation Assignment Operator
//-----------------------------------------------------------------------------
template <typename T>
PointMassDynamicWithQuaternionRotation<T> const & PointMassDynamicWithQuaternionRotation<T>::operator= ( PointMassDynamicWithQuaternionRotation<T> const & P )
{
    if ( this != &P )
    {
        *(dynamic_cast< PointMassDynamic<T> * >(this)) = *(dynamic_cast< PointMassDynamic<T> const * >(&P));
        m_QuaternionRotation = P.m_QuaternionRotation;
    }
    return *this;
}
//-----------------------------------------------------------------------------

//=============================================================================
// Get/Set Functions
//-----------------------------------------------------------------------------
template <typename T>
Quaternion<T> const & PointMassDynamicWithQuaternionRotation<T>::GetQuaternionRotation () const
{
    return m_QuaternionRotation;
}

template <typename T>
Quaternion<T> & PointMassDynamicWithQuaternionRotation<T>::GetQuaternionRotation ()
{
    return m_QuaternionRotation;
}

template <typename T>
void PointMassDynamicWithQuaternionRotation<T>::SetQuaternionRotation ( Quaternion<T> const & rotation )
{
    m_QuaternionRotation = rotation;
}

template <typename T>
void PointMassDynamicWithQuaternionRotation<T>::SetQuaternionRotation ( T r, T i, T j, T k )
{
    m_QuaternionRotation.SetRIJK( r, i, j, k );
}
//-----------------------------------------------------------------------------


//=============================================================================
//-----------------------------------------------------------------------------
template <typename T>
void PointMassDynamicWithQuaternionRotation<T>::DefaultValues ()
{
    PointMassDynamic<T>::DefaultValues();
    m_QuaternionRotation.SetRIJK( 1, 0, 0, 0 );
}
//-----------------------------------------------------------------------------
template <typename T>
void PointMassDynamicWithQuaternionRotation<T>::RandomValues ()
{
    PointMassDynamic<T>::RandomValues();
    // between -1.0 to 1.0
    m_QuaternionRotation.SetRIJK( (rand()%201-100)/100.0, (rand()%201-100)/100.0, (rand()%201-100)/100.0, (rand()%201-100)/100.0 );
    m_QuaternionRotation.Normalized();
}
//-----------------------------------------------------------------------------

//=============================================================================
#if defined(__gl_h_) || defined(__GL_H__)
template <typename T>
void PointMassDynamicWithQuaternionRotation<T>::Draw () const
{
    glPushMatrix();
    glPushAttrib( GL_ALL_ATTRIB_BITS );
    glTranslatef( static_cast<float>(m_v3Position[0]), static_cast<float>(m_v3Position[1]), static_cast<float>(m_v3Position[2]) );

    //GetQuaternionRotation().TransformByOpenGLForDrawing();
    Matrix4x4<T> orientation = GetQuaternionRotation().GetRotationMatrix4x4();
    GLfloat m[16] = {
        static_cast<GLfloat>(orientation[ 0]), static_cast<GLfloat>(orientation[ 4]), static_cast<GLfloat>(orientation[ 8]), static_cast<GLfloat>(orientation[ 12]), 
        static_cast<GLfloat>(orientation[ 1]), static_cast<GLfloat>(orientation[ 5]), static_cast<GLfloat>(orientation[ 9]), static_cast<GLfloat>(orientation[ 13]), 
        static_cast<GLfloat>(orientation[ 2]), static_cast<GLfloat>(orientation[ 6]), static_cast<GLfloat>(orientation[10]), static_cast<GLfloat>(orientation[ 14]), 
        static_cast<GLfloat>(orientation[ 3]), static_cast<GLfloat>(orientation[ 7]), static_cast<GLfloat>(orientation[11]), static_cast<GLfloat>(orientation[ 15])
    };
    glMultMatrixf( m );

    glEnable( GL_COLOR_MATERIAL );
    glColor4f( 0.5, 0.5, 0.5, 0.5 );
    //glutSolidSphere( GetSize(), 10, 10 );
    glutSolidCone(
        GetSize(),      // GLdouble base
        2*GetSize(),    // GLdouble height
        10,             // GLint slices
        10              // GLint stacks
    );
    glPopAttrib();
    glPopMatrix();
}

template <typename T>
void PointMassDynamicWithQuaternionRotation<T>::Draw ( T scale ) const
{
    glPushMatrix();
    glPushAttrib( GL_ALL_ATTRIB_BITS );
    glTranslatef( static_cast<float>(GetPosition()[0]), static_cast<float>(GetPosition()[1]), static_cast<float>(GetPosition()[2]) );

    //GetQuaternionRotation().TransformByOpenGLForDrawing();
    Matrix4x4<T> orientation = GetQuaternionRotation().GetRotationMatrix4x4();
    GLfloat m[16] = {
        static_cast<GLfloat>(orientation[ 0]), static_cast<GLfloat>(orientation[ 4]), static_cast<GLfloat>(orientation[ 8]), static_cast<GLfloat>(orientation[ 12]), 
        static_cast<GLfloat>(orientation[ 1]), static_cast<GLfloat>(orientation[ 5]), static_cast<GLfloat>(orientation[ 9]), static_cast<GLfloat>(orientation[ 13]), 
        static_cast<GLfloat>(orientation[ 2]), static_cast<GLfloat>(orientation[ 6]), static_cast<GLfloat>(orientation[10]), static_cast<GLfloat>(orientation[ 14]), 
        static_cast<GLfloat>(orientation[ 3]), static_cast<GLfloat>(orientation[ 7]), static_cast<GLfloat>(orientation[11]), static_cast<GLfloat>(orientation[ 15])
    };
    glMultMatrixf( m );

    glEnable( GL_COLOR_MATERIAL );
    glColor4f( 0.5, 0.5, 0.5, 0.5 );
    //glutSolidSphere( GetSize()*scale, 10, 10 );
    glutSolidCone(
        scale*GetSize(),    // GLdouble base
        scale*2*GetSize(),  // GLdouble height
        10,                 // GLint slices
        10                  // GLint stacks
    );
    glPopAttrib();
    glPopMatrix();
}
#endif // #if defined(__gl_h_) || defined(__GL_H__)
//=============================================================================
END_NAMESPACE_TAPs
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