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boxcollider.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: boxcollider.cpp,v 1.4 2004/04/15 18:32:24 rollmark Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 
00023 #include "boxcollider.h"
00024 
00025 using namespace oxygen;
00026 using namespace salt;
00027 
00028 BoxCollider::BoxCollider() : Collider()
00029 {
00030 }
00031 
00032 void
00033 BoxCollider::SetBoxLengths(const Vector3f& extents)
00034 {
00035     dGeomBoxSetLengths(
00036                        mODEGeom,
00037                        extents[0],
00038                        extents[1],
00039                        extents[2]
00040                        );
00041 }
00042 
00043 bool
00044 BoxCollider::ConstructInternal()
00045 {
00046     if (! Collider::ConstructInternal())
00047         {
00048             return false;
00049         }
00050 
00051     // create a unit box
00052     mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
00053 
00054     return (mODEGeom != 0);
00055 }
00056 
00057 void
00058 BoxCollider::GetBoxLengths(Vector3f& extents)
00059 {
00060     dVector3 lengths;
00061     dGeomBoxGetLengths(mODEGeom,lengths);
00062     extents[0] = lengths[0];
00063     extents[1] = lengths[1];
00064     extents[2] = lengths[2];
00065 }
00066 
00067 float
00068 BoxCollider::GetBoxLength(int axis)
00069 {
00070     if (
00071         (axis<0) ||
00072         (axis>2)
00073         )
00074         {
00075             return 0;
00076         }
00077 
00078     Vector3f extents;
00079     GetBoxLengths(extents);
00080     return extents[axis];
00081 }
00082 
00083 float
00084 BoxCollider::GetPointDepth(const Vector3f& pos)
00085 {
00086     Vector3f worldPos(GetWorldTransform() * pos);
00087     return dGeomBoxPointDepth
00088         (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
00089 }
00090 
00091 

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