TAPsRigidBodyBase.cpp

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/******************************************************************************
TAPsRigidBodyBase.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (03/25/2010)
UPDATE          (09/26/2010)
******************************************************************************/
#include "TAPsRigidBodyBase.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
//-----------------------------------------------------------------------------
template <typename T>
RigidBodyBase<T>::RigidBodyBase ()
    : m_pBV( NULL )
{}
//-----------------------------------------------------------------------------
template <typename T>
RigidBodyBase<T>::RigidBodyBase ( Vector3<T> const & Origin, Quaternion<T> const & Orientation )
    : m_Origin( Origin )
    , m_Orientation( Orientation )
    , m_pBV( NULL )
{
    UpdateTransformationSupport();
}
//-----------------------------------------------------------------------------
//template <typename T>
//RigidBodyBase<T>::RigidBodyBase ( RigidBodyBase<T> const &orig )
//  : 
//{}
//-----------------------------------------------------------------------------
template <typename T>
RigidBodyBase<T>::~RigidBodyBase ()
{
    if ( m_pBV )    delete m_pBV;
}
//-----------------------------------------------------------------------------
template <typename T>
std::string RigidBodyBase<T>::StrInfo () const
{
    std::ostringstream ss;
    ss << "RigidBodyBase<" << typeid(T).name() << ">";
    ss << " has origin at (" << m_OriginPt[0] << ", " << m_OriginPt[1] << ", " << m_OriginPt[2] << ")";
    ss << " with orientation (represented by Quaternion<T>) of " << m_Orientation;
    ss << " center at " << m_OrientationCenter;
    ss << " Its shape is " << Shape<T>::StrInfo();
    ss << " Its bounding volume is ";
    if ( m_pBV )    ss << RefToBV();
    else            ss << "None";
    ss << "\n";
    return ss.str();
}
//-----------------------------------------------------------------------------
template <typename T>
void RigidBodyBase<T>::SetBVOfType ( Enum::CD type )
{
    if ( m_pBV )    delete m_pBV;
#if defined(__gl_h_) || defined(__GL_H__)
    m_pBV = BVSupportFns<T>::CreateBVOfType( type, m_pModel );
#else
    m_pBV = BVSupportFns<T>::CreateBVOfType( type );
#endif
}
//-----------------------------------------------------------------------------
template <typename T>
Matrix4x4<T> RigidBodyBase<T>::CalMatrixTransform () const
{
    return  CGMath<T>::MatrixTranslation( GetOriginPoint() + GetOrientationCenter() )
        *   GetOrientation().GetRotationMatrix4x4()
        *   CGMath<T>::MatrixTranslation( -GetOrientationCenter() );
}   
//-----------------------------------------------------------------------------
template <typename T>
Matrix4x4<T> RigidBodyBase<T>::CalInvMatrixTransform () const
{
    return CalMatrixTransform().Inversed();
}   
//-----------------------------------------------------------------------------


//=============================================================================
// OpenGL
#if defined(__gl_h_) || defined(__GL_H__)
//-----------------------------------------------------------------------------
template <typename T>
void RigidBodyBase<T>::Draw () const
{
    if ( m_pModel ) {
        glPushMatrix();
        Matrix4x4<T> Trx = CalMatrixTransform();
        GLfloat m[16] = {
            static_cast<GLfloat>(Trx[ 0]), static_cast<GLfloat>(Trx[ 4]), static_cast<GLfloat>(Trx[ 8]), static_cast<GLfloat>(Trx[ 12]), 
            static_cast<GLfloat>(Trx[ 1]), static_cast<GLfloat>(Trx[ 5]), static_cast<GLfloat>(Trx[ 9]), static_cast<GLfloat>(Trx[ 13]), 
            static_cast<GLfloat>(Trx[ 2]), static_cast<GLfloat>(Trx[ 6]), static_cast<GLfloat>(Trx[10]), static_cast<GLfloat>(Trx[ 14]), 
            static_cast<GLfloat>(Trx[ 3]), static_cast<GLfloat>(Trx[ 7]), static_cast<GLfloat>(Trx[11]), static_cast<GLfloat>(Trx[ 15])
        };
        glMultMatrixf( m );
        m_pModel->Draw();
        glPopMatrix();
    }
    else {
        glPushAttrib( GL_ALL_ATTRIB_BITS );
        glPointSize( 5 );
        glBegin( GL_POINTS );
        glVertex3f( 0, 0, 0 );
        glPopAttrib();
        glEnd();
    }
}
//-----------------------------------------------------------------------------
template <typename T>
void RigidBodyBase<T>::DrawOrigin () const
{
    Matrix4x4<T> Trx( CalMatrixTransform() );
    Vector3<T> V( Trx * Vector3<T>() );
    glPushMatrix();
    glPushAttrib( GL_ALL_ATTRIB_BITS );
    glDisable( GL_DEPTH_TEST );
    glDisable( GL_LIGHTING );
    glColor3f( 0.75, 0.75, 0.75 );
    glPointSize( 5 );
    glBegin( GL_POINTS );
    glVertex3f( V[0], V[1], V[2] );
    glEnd();
    glPopAttrib();
    glPopMatrix();
}
//-----------------------------------------------------------------------------
template <typename T>
void RigidBodyBase<T>::DrawOrientation () const
{
    Matrix4x4<T> Trx( CalMatrixTransform() );
    Vector3<T> O( Trx * GetOrientationCenter() );
    Vector3<T> X( Trx * ( GetOrientationCenter() + Vector3<T>(1,0,0) ) );
    Vector3<T> Y( Trx * ( GetOrientationCenter() + Vector3<T>(0,1,0) ) );
    Vector3<T> Z( Trx * ( GetOrientationCenter() + Vector3<T>(0,0,1) ) );
    glPushMatrix();
    glPushAttrib( GL_ALL_ATTRIB_BITS );
    glDisable( GL_DEPTH_TEST );
    glDisable( GL_LIGHTING );
    glPointSize( 3 );
    glLineWidth( 1 );
    glBegin( GL_POINTS );
        glColor3f( 0.5, 0.5, 0.5 );
        glVertex3f( O[0], O[1], O[2] );
        glColor3f( 1, 0, 0 );
        glVertex3f( X[0], X[1], X[2] );
        glColor3f( 0, 1, 0 );
        glVertex3f( Y[0], Y[1], Y[2] );
        glColor3f( 0, 0, 1 );
        glVertex3f( Z[0], Z[1], Z[2] );
    glEnd();
    glBegin( GL_LINES );
        glColor3f( 1, 0, 0 );
        glVertex3f( O[0], O[1], O[2] );
        glVertex3f( X[0], X[1], X[2] );
        glColor3f( 0, 1, 0 );
        glVertex3f( O[0], O[1], O[2] );
        glVertex3f( Y[0], Y[1], Y[2] );
        glColor3f( 0, 0, 1 );
        glVertex3f( O[0], O[1], O[2] );
        glVertex3f( Z[0], Z[1], Z[2] );
    glEnd();
    glPopAttrib();
    glPopMatrix();
}
//-----------------------------------------------------------------------------
template <typename T>
void RigidBodyBase<T>::DrawBV () const
{
    if ( m_pBV ) {
        glPushMatrix();
        Matrix4x4<T> Trx = CalMatrixTransform();
        GLfloat m[16] = {
            static_cast<GLfloat>(Trx[ 0]), static_cast<GLfloat>(Trx[ 4]), static_cast<GLfloat>(Trx[ 8]), static_cast<GLfloat>(Trx[ 12]), 
            static_cast<GLfloat>(Trx[ 1]), static_cast<GLfloat>(Trx[ 5]), static_cast<GLfloat>(Trx[ 9]), static_cast<GLfloat>(Trx[ 13]), 
            static_cast<GLfloat>(Trx[ 2]), static_cast<GLfloat>(Trx[ 6]), static_cast<GLfloat>(Trx[10]), static_cast<GLfloat>(Trx[ 14]), 
            static_cast<GLfloat>(Trx[ 3]), static_cast<GLfloat>(Trx[ 7]), static_cast<GLfloat>(Trx[11]), static_cast<GLfloat>(Trx[ 15])
        };
        glMultMatrixf( m );
        m_pBV->Draw();
        glPopMatrix();
    }
}
//-----------------------------------------------------------------------------
#endif  // OpenGL
//=============================================================================


//=============================================================================
END_NAMESPACE_TAPs
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