BlCylinder.cpp

// BlCylinder.cpp: implementation of the BlCylinder class.
//

#include "StdAfx.h"
#include "BlJoint.h"
#include "BlMotorizedJoint.h"
#include "BlRigidBody.h"
#include "BlCylinder.h"
#include "BlSimulator.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                namespace Bodies
                {

// Construction/Destruction

BlCylinder::BlCylinder()
{
        SetThisPointers();
}

BlCylinder::~BlCylinder()
{
        try
        {
                DeleteGraphics();
                DeletePhysics(false);
        }
        catch(...)
        {Std_TraceMsg(0, "Caught Error in desctructor of BlCylinder\r\n", "", -1, false, true);}
}

void BlCylinder::CreateGraphicsGeometry()
{
        m_osgGeometry = CreateConeGeometry(m_fltHeight, m_fltRadius, m_fltRadius, m_iSides, true, true, true);
        
        //We need to setup a geometry rotation to make the cylinder graphics geometry match the physics geometry.
        CStdFPoint vPos(0, 0, 0), vRot(-(osg::PI/2), 0, 0);
        GeometryRotationMatrix(SetupMatrix(vPos, vRot));
}

void BlCylinder::CreatePhysicsGeometry()
{
        if(IsCollisionObject())
    {
        DeleteCollisionGeometry();

        CalculateVolumeAndAreas();
        m_eBodyType = CYLINDER_SHAPE_PROXYTYPE;
        m_btCollisionShape = new btCylinderShapeZ( btVector3( m_fltRadius, m_fltRadius, (m_fltHeight/2.0f) ) );
    }
}

void BlCylinder::CalculateVolumeAndAreas()
{
    m_fltVolume = osg::PI * m_fltRadius * m_fltRadius * m_fltHeight;

    m_vArea.x = (2*m_fltRadius)*m_fltHeight;
    m_vArea.y = (2*m_fltRadius)*m_fltHeight;
    m_vArea.z = osg::PI * m_fltRadius * m_fltRadius;

    if(m_fltMass < 0)
    {
        float fltMass = m_fltVolume * m_fltDensity;
        Mass(fltMass, false, false);
    }
}

void BlCylinder::CreateParts()
{
        CreateGeometry();

        BlRigidBody::CreateItem();
        Cylinder::CreateParts();
}

void BlCylinder::CreateJoints()
{
        if(m_lpJointToParent)
                m_lpJointToParent->CreateJoint();

        Cylinder::CreateJoints();
        BlRigidBody::Initialize();
}

                }               //Bodies
        }                       // Environment
}                               //BulletAnimatSim