/******************************************************************** ** Image Component Library (ICL) ** ** ** ** Copyright (C) 2006-2014 CITEC, University of Bielefeld ** ** Neuroinformatics Group ** ** Website: www.iclcv.org and ** ** http://opensource.cit-ec.de/projects/icl ** ** ** ** File : ICLPhysics/src/ICLPhysics/RigidCylinderObject.cpp ** ** Module : ICLPhysics ** ** Author : Christof Elbrechter, Matthias Esau ** ** ** ** ** ** GNU LESSER GENERAL PUBLIC LICENSE ** ** This file may be used under the terms of the GNU Lesser General ** ** Public License version 3.0 as published by the ** ** ** ** Free Software Foundation and appearing in the file LICENSE.LGPL ** ** included in the packaging of this file. Please review the ** ** following information to ensure the license requirements will ** ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** ** ** ** The development of this software was supported by the ** ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** ** Forschungsgemeinschaft (DFG) in the context of the German ** ** Excellence Initiative. ** ** ** ********************************************************************/ #include #include #include #include #include #include #include #include namespace icl{ namespace physics{ RigidCylinderObject::RigidCylinderObject(float x, float y, float z, float r, float h, float mass){ so = addCylinder(0, 0, 0, r, r, h, 16); btCylinderShape *shape = new btCylinderShapeZ(btVector3(icl2bullet(r * 0.5),icl2bullet(r * 0.5),icl2bullet(h * 0.5))); btTransform T; T.setIdentity(); T.setOrigin(btVector3(icl2bullet(x),icl2bullet(y),icl2bullet(z))); MotionState* motion = new MotionState(T, (RigidObject*)this); btVector3 inertia(0,0,0); shape->calculateLocalInertia(mass, inertia); btRigidBody::btRigidBodyConstructionInfo ci(mass,motion,shape,inertia); ci.m_linearSleepingThreshold *= METER_TO_BULLET_UNIT; ci.m_angularSleepingThreshold *= METER_TO_BULLET_UNIT; setPhysicalObject(new btRigidBody(ci)); } } }