Forgot to add new gameobj files

gameobj.cpp

@@ -0,0 +1,227 @@
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+#include <vector>
+#include <cmath>
+#include "gameobj.h"
+#include <iostream>
+
+using namespace std;
+
+
+vec3 acceleration(const State &s) {
+  const float k = 10.0;
+  const float b = 1;
+  return (s.pos * -k) - (s.mo * b);
+}
+
+Derivative evalDer(State s, int ms, Derivative &d) {
+  s.pos += d.dv * ms;
+  s.mo += d.df * ms;
+
+  Derivative out;
+  out.dv = s.mo;
+  out.df = acceleration(s);
+  return out;
+}
+
+
+void triggerCollision(gameobj& a, gameobj &b, list<vec3> pts, vec3 &n) {
+
+  a.next_st.mo -= n*(2*a.st.mo.dot(n));
+  b.next_st.mo -= n*(2*b.st.mo.dot(n));
+
+  //vec3 mo = a.st.mo + b.st.mo;
+
+}
+
+gameobj::gameobj(vec3 c) {
+  st.pos = c;
+
+}
+
+void gameobj::rotate(double om, char axis) {
+  const double a = om * 3.14159265358979 / 180;
+  for (vector<vec3>::iterator it = pts.begin(); it != pts.end(); it++) {
+    double x = it->x, y = it->y, z = it->z;
+    switch (axis) {
+      case 'x':
+        it->y = y*cos(a) - z*sin(a);
+        it->z = y*sin(a) + z*cos(a);
+        break;
+      case 'y':
+        it->x = x*cos(a) - z*sin(a);
+        it->z = x*sin(a) + z*cos(a);
+        break;
+      case 'z':
+        it->x = x*cos(a) - y*sin(a);
+        it->y = x*sin(a) + y*cos(a);
+        break;
+      default:
+        break;
+    }
+  }
+}
+void gameobj::calcNext(unsigned long ms) {
+  double step = ms / 1000000.0;
+
+
+
+  Derivative start;
+  Derivative a = evalDer(st, 0.0, start);
+  Derivative b = evalDer(st, step/2, a);
+  Derivative c = evalDer(st, step/2, b);
+  Derivative d = evalDer(st, step, c);
+
+  const vec3 dvdt = (a.dv + (b.dv + c.dv)*2 + d.dv) * (1/6.0);
+  const vec3 dfdt = (a.df + (b.df + c.df)*2 + d.df) * (1/6.0);
+
+//  cout << "DV" << dvdt << dfdt << endl;
+
+  next_st.pos = st.pos + dvdt*step;
+  next_st.mo = st.mo + dfdt*step;
+}
+void gameobj::commit() {
+  st = next_st;
+}
+
+vec3 gameobj::collision_point(vec3 dir) const {
+  double angle = 0;
+  vec3 max;
+
+  vector<vec3>::const_iterator it;
+
+  vec3 centroid;
+  for (it = pts.begin(); it != pts.end(); it++) {
+    centroid += *it;
+  }
+  centroid *= 1/pts.size();
+
+  for (it = pts.begin(); it != pts.end(); it++) {
+    vec3 pt = *it-centroid;
+    double a = pt.dot(dir)/(pt.len()*dir.len());
+    if (a > angle) {
+      angle = a;
+      max = *it;
+    }
+  }
+  return max + st.pos;
+}
+
+
+
+
+
+void box::init(vec3 c, double w, double h, double l) {
+  vert_per_poly = 4;
+  pts.reserve(8);
+  pts.push_back(vec3(-w/2, -h/2, -l/2));
+  pts.push_back(vec3( w/2, -h/2, -l/2));
+  pts.push_back(vec3(-w/2,  h/2, -l/2));
+  pts.push_back(vec3( w/2,  h/2, -l/2));
+  pts.push_back(vec3(-w/2, -h/2, l/2));
+  pts.push_back(vec3( w/2, -h/2, l/2));
+  pts.push_back(vec3(-w/2,  h/2, l/2));
+  pts.push_back(vec3( w/2,  h/2, l/2));
+
+  index.reserve(6*4);
+  index.push_back(0); index.push_back(2); index.push_back(3); index.push_back(1); // back face
+  index.push_back(0); index.push_back(4); index.push_back(6); index.push_back(2); // left side
+  index.push_back(4); index.push_back(5); index.push_back(7); index.push_back(6); // front face
+  index.push_back(1); index.push_back(3); index.push_back(7); index.push_back(5); // right face
+  index.push_back(2); index.push_back(6); index.push_back(7); index.push_back(3); // top face
+  index.push_back(0); index.push_back(1); index.push_back(5); index.push_back(4); // bottom face
+}
+
+box::box(vec3 c, double w, double h, double l): gameobj(c) {
+  init(c, w, h, l);
+}
+box::  box(vec3 c, double w) : gameobj(c) {
+  init(c, w, w, w);
+}
+
+void box::render() const {
+  int i = 0;
+  double c = 0.2;
+  glTranslated(st.pos.x, st.pos.y, st.pos.z);
+  glBegin(GL_QUADS);
+  for (vector<int>::const_iterator it = index.begin(); it != index.end();) {
+    glColor3d(c, c+0.1, c+0.2);
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    c += 0.1;
+  }
+  glEnd();
+
+  glTranslated(-1*st.pos.x, -1*st.pos.y, -1*st.pos.z);
+
+
+  glPointSize(10);
+  glBegin(GL_POINTS);
+  glColor3d(1.0, 0, 0);
+  for (vector<vec3>::const_iterator it = sim_pts.begin(); it != sim_pts.end(); it++) {
+    const vec3 &v = *it;
+    glVertex3d(it->x, it->y, it->z);
+  }
+  glEnd();
+
+  glBegin(GL_LINES);
+  glColor3d(0, 1.0, 0);
+  for (vector<pair<vec3,vec3> >::const_iterator it = sim_edges.begin(); it != sim_edges.end(); it++) {
+    const pair<vec3,vec3> &v = *it;
+    const vec3 f = v.first + vec3(0.05, 0, 0);
+    const vec3 s = v.second + vec3(0.05, 0, 0);
+    glVertex3d(f.x, f.y, f.z);
+    glVertex3d(s.x, s.y, s.z);
+  }
+  glEnd();
+}
+
+void tetrahedron::init(double w) {
+  vert_per_poly = 3;
+  pts.reserve(4);
+  pts.push_back(vec3(   0, w/2, 0));
+  pts.push_back(vec3(   0,-w/2,-w/2));
+  pts.push_back(vec3(-w/2,-w/2, w/2));
+  pts.push_back(vec3( w/2,-w/2, w/2));
+
+  index.reserve(4*3);
+  index.push_back(0); index.push_back(2); index.push_back(3);
+  index.push_back(0); index.push_back(3); index.push_back(1);
+  index.push_back(0); index.push_back(1); index.push_back(2);
+  index.push_back(3); index.push_back(2); index.push_back(1);
+}
+
+tetrahedron::tetrahedron(vec3 c, double w): gameobj(c) {
+  init(w);
+}
+void tetrahedron::render() const {
+  int i = 0;
+  glTranslated(st.pos.x, st.pos.y, st.pos.z);
+  double c = 0.5;
+  glBegin(GL_TRIANGLES);
+  for (vector<int>::const_iterator it = index.begin(); it != index.end();) {
+    glColor3d(c, c+0.1, c);
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    glVertex3d(pts[*it].x, pts[*it].y, pts[*it].z); it++;
+    c += 0.1;
+  }
+  glEnd();
+
+  glTranslated(-1*st.pos.x, -1*st.pos.y, -1*st.pos.z);
+
+  glPointSize(10);
+  glBegin(GL_POINTS);
+  glColor3d(1.0, 0, 0);
+  for (vector<vec3>::const_iterator it = sim_pts.begin(); it != sim_pts.end(); it++) {
+    const vec3 &v = *it;
+    glVertex3d(it->x, it->y, it->z);
+  }
+  glEnd();
+
+}
+
+

gameobj.h

@@ -0,0 +1,60 @@
+
+#include <vector>
+#include "collision.h"
+
+
+struct State {
+  vec3 pos;
+  vec3 mo;
+};
+struct Derivative {
+  vec3 dv;
+  vec3 df;
+};
+
+struct Quaternion {
+  float x, y, z, w;
+};
+
+class gameobj: public collidable {
+
+  public:
+  std::vector<vec3> pts;
+  std::vector<int> index;
+  std::vector<vec3> normals;
+  int vert_per_poly;
+  State st;
+  State next_st;
+
+  public:
+  gameobj(vec3 c);
+  virtual void calcNext(unsigned long step);
+  virtual void commit();
+  virtual vec3 collision_point(vec3 dir) const;
+  virtual void render() const = 0;
+
+  void rotate(double om, char axis = 'y');
+
+  friend void triggerCollision(gameobj& a, gameobj &b, std::list<vec3> pts, vec3 &n);
+};
+
+class box : public gameobj {
+
+  void init(vec3 c, double w, double h, double l);
+
+  public:
+  box(vec3 c, double w, double h, double l);
+  box(vec3 c, double w);
+  virtual void render() const;
+};
+
+class tetrahedron: public gameobj {
+  void init(double w);
+
+  public:
+  tetrahedron(vec3 c, double w);
+  virtual void render() const;
+};
+
+
+void triggerCollision(gameobj& a, gameobj &b, std::list<vec3> pts, vec3 &n);