60 lines
2.7 KiB
C++
60 lines
2.7 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.ephysics.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include <ephysics/PhysicsObject.hpp>
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/// Constructor
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PhysicsObject::PhysicsObject() {
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mColor = openglframework::Color(1, 1, 1, 1);
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mSleepingColor = openglframework::Color(1, 0, 0, 1);
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}
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// Compute the new transform matrix
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openglframework::Matrix4 PhysicsObject::computeetk::Transform3D(float int32_terpolationFactor,
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const openglframework::Matrix4& scalingMatrix) {
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// Get the transform of the rigid body
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ephysics::etk::Transform3D transform = m_body->getTransform();
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// Interpolate the transform between the previous one and the new one
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ephysics::etk::Transform3D int32_terpolatedTransform = ephysics::Transform::int32_terpolateTransforms(mPreviousTransform,
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transform,
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int32_terpolationFactor);
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mPreviousetk::Transform3D = transform;
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// Compute the transform used for rendering the box
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ephysics::float matrix[16];
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int32_terpolatedetk::Transform3D.getOpenGLMatrix(matrix);
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openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
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matrix[1], matrix[5], matrix[9], matrix[13],
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matrix[2], matrix[6], matrix[10], matrix[14],
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matrix[3], matrix[7], matrix[11], matrix[15]);
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// Apply the scaling matrix to have the correct box dimensions
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return newMatrix * scalingMatrix;
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}
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