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sphere.cc

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#include "sphere.hh"
#include "register.hh"

namespace anoid {
    namespace plugin {

        using namespace config;

        DtShapeRef sphereshape;
        GLuint display; // For some reason I cannot load classes with static members
        bool inited = false;

        void Sphere::redraw() {
            glCallList(display);
            Shape::redraw();
        }

        void Sphere::init(Configuration &c) {
            if (!inited) {
                inited = true;
                display = glGenLists(1);

                sphereshape = dtSphere(0.5);

                GLUquadricObj *pObj = gluNewQuadric();
                gluQuadricNormals(pObj, GLU_SMOOTH);
                gluQuadricDrawStyle(pObj, GLU_FILL);

                glNewList(display, GL_COMPILE);
                gluSphere(pObj, 0.5, 25, 25);
                glEndList();

                gluDeleteQuadric(pObj);
            }

            dtCreateObject(parent, sphereshape);
            Shape::init(c);
        }

        void Sphere::getInverseInertiaTensor(double *output, double a, double b, double c) {
            Shape::getInverseInertiaTensor(output, a, b, c);

            output[0] = 5.0 / (b*b + c*c);
            output[5] = 5.0 / (a*a + c*c);
            output[10] = 5.0 / (a*a + b*b);
        }

        Register(Sphere)

    };
};

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Anoid NG © Michael Westergaard, Martin Stig Stissing, Ronni Michael Laursen, and Kristian Bisgaard Lassen