iframeworkapp.cpp

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include "common/math/matrix3.h"
#include "common/math/quaternion.h"
#include "common/math/vector3.h"
#include "engine/dynamics/rigidbody.h"
#include "iframeworkapp.h"

#include <GL/glut.h>

using namespace sheep;

IFrameworkApp::IFrameworkApp() :
    m_orbiter(
        Vector3(0.0),
        DEFAULT_AZIMUTH,
        DEFAULT_ELEVATION,
        DEFAULT_DISTANCE
    )
{
}

void IFrameworkApp::Reshape(int width, int height) {
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();

    gluPerspective(
        60.0,                                   // field of view in degree
        static_cast<GLdouble>(width) / height,  // aspect ratio
        1.0,                                    // Z-near
        1000.0                                  // Z-far
    );

    glViewport(0, 0, width, height);

    glMatrixMode(GL_MODELVIEW);
}

void IFrameworkApp::TransformTo(const RigidBody *body) {
    const Vector3 &p = body->GetPosition();
    const Matrix3 r = Matrix3::Rotation(body->GetOrientation());

    GLdouble m[16];

    // OpenGL is column-major.

    m[0]  = r[0];
    m[1]  = r[3];
    m[2]  = r[6];
    m[3]  = 0.0;
    m[4]  = r[1];
    m[5]  = r[4];
    m[6]  = r[7];
    m[7]  = 0.0;
    m[8]  = r[2];
    m[9]  = r[5];
    m[10] = r[8];
    m[11] = 0.0;
    m[12] = p.m_x;
    m[13] = p.m_y;
    m[14] = p.m_z;
    m[15] = 1.0;

    glMultMatrixd(m);
}

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