phycone.cpp
1 /********************************************************************************
2  * WorldSim -- library for robot simulations *
3  * Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it> *
4  * *
5  * This program is free software; you can redistribute it and/or modify *
6  * it under the terms of the GNU General Public License as published by *
7  * the Free Software Foundation; either version 2 of the License, or *
8  * (at your option) any later version. *
9  * *
10  * This program is distributed in the hope that it will be useful, *
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13  * GNU General Public License for more details. *
14  * *
15  * You should have received a copy of the GNU General Public License *
16  * along with this program; if not, write to the Free Software *
17  * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA *
18  ********************************************************************************/
19 
20 #include "phycone.h"
21 #include "private/phyobjectprivate.h"
22 #include "private/worldprivate.h"
23 
24 namespace farsa {
25 
26 PhyCone::PhyCone( real radius, real height, World* w, QString name, const wMatrix& tm )
27  : PhyObject( w, name, tm, false ) {
28  radiusv = radius;
29  heightv = height;
30  w->pushObject( this );
32  changedMatrix();
33 }
34 
36 #ifdef WORLDSIM_USE_NEWTON
37  /* nothing to do */
38 #endif
39 }
40 
42 #ifdef WORLDSIM_USE_NEWTON
43  NewtonCollision* c = NewtonCreateCone( worldpriv->world, radiusv, heightv, 1, 0 );
44  wMatrix initialTransformationMatrix = wMatrix::identity(); // The transformation matrix is set in other places
45  priv->body = NewtonCreateBody( worldpriv->world, c, &initialTransformationMatrix[0][0] );
46  priv->collision = NewtonBodyGetCollision( priv->body );
47  //NewtonReleaseCollision( worldpriv->world, c );
48  NewtonBodySetAutoSleep( priv->body, 0 );
49  setMass( 1 );
50  NewtonBodySetUserData( priv->body, this );
51  NewtonBodySetLinearDamping( priv->body, 0.0 );
52  wVector zero = wVector(0,0,0,0);
53  NewtonBodySetAngularDamping( priv->body, &zero[0] );
54  NewtonBodySetAutoSleep( priv->body, 0 );
55  NewtonBodySetFreezeState( priv->body, 0 );
56  // Sets the signal-wrappers callback
57  NewtonBodySetTransformCallback( priv->body, (PhyObjectPrivate::setTransformHandler) );
58  NewtonBodySetForceAndTorqueCallback( priv->body, (PhyObjectPrivate::applyForceAndTorqueHandler) );
59 #endif
60 }
61 
62 } // end namespace farsa