BlCone.cpp

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

#include "StdAfx.h"
#include "BlOsgGeometry.h"
#include "BlJoint.h"
#include "BlRigidBody.h"
#include "BlCone.h"
#include "BlSimulator.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                namespace Bodies
                {

// Construction/Destruction

BlCone::BlCone()
{
        SetThisPointers();
}

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

void BlCone::CreateGraphicsGeometry()
{
        m_osgGeometry = CreateConeGeometry(m_fltHeight, m_fltUpperRadius, m_fltLowerRadius, m_iSides, true, true, true);
}

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

        CalculateVolumeAndAreas();

        m_eBodyType = CONVEX_HULL_SHAPE_PROXYTYPE;
        btConvexHullShape *btHull = OsgMeshToConvexHull(m_osgNode.get(), true, -1);
        m_btCollisionShape = btHull;
        //m_bDisplayDebugCollisionGraphic = false;
        }
}

void BlCone::CalculateVolumeAndAreas()
{
    m_fltVolume = (1/3.0)*osg::PI*((m_fltLowerRadius*m_fltLowerRadius + m_fltLowerRadius*m_fltUpperRadius + m_fltUpperRadius*m_fltUpperRadius)/m_fltHeight);

    //First get the large and small radius
    float fltLargeDiam = 2*STD_MAX(m_fltLowerRadius, m_fltUpperRadius);
    float fltSmallDiam = 2*STD_MIN(m_fltLowerRadius, m_fltUpperRadius);

    //Now get the side profile area by geting the area of the rectangle of the two radii, and then subtracting 2 traingles from the large radius to small radius.
    float fltProfileRect = fltLargeDiam * m_fltHeight;
    float fltTriHeight = (fltLargeDiam - fltSmallDiam) / 2.0;
    float fltTriBase = m_fltHeight;
    float fltProfileTriangle = 0.5f * fltTriBase * fltTriHeight;

    float fltProfileArea = fltProfileRect - (2*fltProfileRect);

    m_vArea.x = fltProfileArea;
    m_vArea.y = fltProfileArea;
    m_vArea.z = 2*osg::PI*fltLargeDiam*fltSmallDiam;

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

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

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

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

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


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