#include "cube.h"
#include <GL/glut.h>

using namespace std;

Cube::Cube(dWorldID world,dSpaceID space,dReal width,dReal height,dReal depth,dReal mass)
{
	body = dBodyCreate(world);
	geom = dCreateBox(space,width,height,depth);
	
	dMass m;
	dMassSetBox(&m,1.0f,width,height,depth);		
	dMassAdjust(&m,mass);		
	dBodySetMass(body,&m);

	dGeomSetBody(geom,body);	
}
void Cube::renderInLocalFrame() const
{
	dVector3 lengths;
	dGeomBoxGetLengths(geom,lengths);
	glScalef(lengths[0],lengths[1],lengths[2]);
	glColor3ubv(color);
 	glutSolidCube(1.0f);
}