WoRB::Box Class Reference

Encapsulates a rigid body with geometry of a rectangular parallelepiped. More...

#include <Utilities.h>

Inheritance diagram for WoRB::Box:

Collaboration diagram for WoRB::Box:

Public Member Functions
	Box (const Quaternion &position, const Quaternion &orientation, const Quaternion &velocity, const Quaternion &angularVelocity, const Quaternion &halfExtent, double mass)
	Creates the box at the specific location.
virtual RigidBody &	GetBody ()
	Gets underlying rigid body.
virtual Geometry &	GetGeometry ()
	Gets underlying geometry.
virtual void	Render (RenderType type)
	Draws the geometry.
virtual void	RenderWireframe (double *transform)
	Draws the wireframe of the rigid body.

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Detailed Description

Encapsulates a rigid body with geometry of a rectangular parallelepiped.

Definition at line 384 of file Utilities.h.

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Constructor & Destructor Documentation

WoRB::Box::Box	(	const Quaternion &	position,
		const Quaternion &	orientation,
		const Quaternion &	velocity,
		const Quaternion &	angularVelocity,
		const Quaternion &	halfExtent,
		double	mass
	)		[inline]

Creates the box at the specific location.

Definition at line 392 of file Utilities.h.

References WoRB::RigidBody::Activate(), WoRB::GLUT_Renderer::ActiveColor, WoRB::Geometry::Body, WoRB::Cuboid::HalfExtent, WoRB::GLUT_Renderer::InactiveColor, WoRB::RigidBody::Set_XQVW(), WoRB::Cuboid::SetMass(), WoRB::Quaternion::x, WoRB::Quaternion::y, and WoRB::Quaternion::z.

        {
            Body = this;

            HalfExtent = halfExtent;

            double minsz = HalfExtent.x;
            minsz = HalfExtent.y < minsz ? HalfExtent.y : minsz;
            minsz = HalfExtent.z < minsz ? HalfExtent.z : minsz;

            ActiveColor = minsz < 0.1 ? Colorf( 0.0f, 0.0f, 0.1f, 0.7f )
                                      : Colorf( 0.7f, 0.9f, 0.7f, 0.8f );

            InactiveColor = Colorf( 0.9f, 0.5f, 0.5f, 0.8f );

            SetMass( mass );

            Body->Set_XQVW( position, orientation, velocity, angularVelocity );
            Body->Activate ();
        }

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Member Function Documentation

virtual RigidBody& WoRB::Box::GetBody

(

)

[inline, virtual]

Gets underlying rigid body.

Implements WoRB::GLUT_Renderer.

Definition at line 420 of file Utilities.h.

        {
            return *this;
        }

virtual Geometry& WoRB::Box::GetGeometry

(

)

[inline, virtual]

Gets underlying geometry.

Implements WoRB::GLUT_Renderer.

Definition at line 427 of file Utilities.h.

        { 
            return *this;
        }

virtual void WoRB::Box::Render

(

RenderType

type

)

[inline, virtual]

Draws the geometry.

Implements WoRB::GLUT_Renderer.

Definition at line 434 of file Utilities.h.

References WoRB::GLUT_Renderer::Colorf::A, WoRB::GLUT_Renderer::ActiveColor, WoRB::GLUT_Renderer::Colorf::B, WoRB::Geometry::Body, WoRB::GLUT_Renderer::BodyAxes, WoRB::GLUT_Renderer::BodyShadow, WoRB::GLUT_Renderer::BodyShape, WoRB::GLUT_Renderer::Colorf::G, WoRB::Cuboid::HalfExtent, WoRB::GLUT_Renderer::InactiveColor, WoRB::RigidBody::IsActive, WoRB::GLUT_Renderer::Colorf::R, WoRB::RenderStateVariables(), WoRB::Quaternion::x, WoRB::Quaternion::y, and WoRB::Quaternion::z.

        {
            if ( type == BodyAxes )
            {
                RenderStateVariables( *Body, HalfExtent * 1.2 );
                return;
            }

            GLTransform bodySpace( *Body, /* flattenHeight if */ type == BodyShadow );

            if ( type != BodyShadow )
            {
                if ( Body->IsActive ) {
                    glColor4f( ActiveColor.R, ActiveColor.G, ActiveColor.B,
                        type == BodyShape ? ActiveColor.A : ActiveColor.A/2 );
                }
                else {
                    glColor4f( InactiveColor.R, InactiveColor.G, InactiveColor.B,
                        type == BodyShape ? InactiveColor.A : InactiveColor.A/2 );
                }
            }

            glScaled( HalfExtent.x * 2, HalfExtent.y * 2, HalfExtent.z * 2 );
            glutSolidCube( 1.0 );
        }

virtual void WoRB::Box::RenderWireframe

(

double *

transform

)

[inline, virtual]

Draws the wireframe of the rigid body.

Implements WoRB::GLUT_Renderer.

Definition at line 462 of file Utilities.h.

References WoRB::Cuboid::HalfExtent, WoRB::Quaternion::x, WoRB::Quaternion::y, and WoRB::Quaternion::z.

        {
            GLTransform bodySpace( transform );
            glColor4f( 0.0f, 0.0f, 0.0f, 0.1f );
            glScaled( HalfExtent.x * 2, HalfExtent.y * 2, HalfExtent.z * 2 );
            glutWireCube( 1.0 );
        }

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The documentation for this class was generated from the following file:

• Utilities.h