main.cpp

//INIT

//RIGIDBODIES
    glm::mat3 inertia = {};
    inertia[0][0] = 1.0f;
    inertia[1][1] = 0.5f;
    inertia[2][2] = 3.0f;



    for (int i = 0; i < numberOfShips; ++i) {
    // Set the initial state of the rigid bodies .
        glm::vec3 tempPos = glm::vec3(RandomFloat(-4.0f, 4.0f), RandomFloat(-4.0f, 4.0f), RandomFloat(-4.0f, 4.0f));
        glm::quat tempQuat;
        tempQuat = glm::angleAxis(roll, glm::vec3(0.0f, 0.0f, 1.0f));
        body [i] = new RigidBody (0.1f, inertia) ;
        body[i]->ClearEverything();
        //body[i]->AddForce(glm::vec3(1.0f, 0.0f, 0.0f),glm::vec3(1,1,1));
        body[i]->AddForce(glm::vec3(0.0f,(-body[i]->m_mass) * (0.1f), 0.0f));

    }


//renderScene

 //Rigidbodies
    // Part of the physics update step .
    for (int i = 0; i < numberOfShips; ++i) {

        body [i]->Update (t, dt);
        t += dt;

        glm::mat4 miniShipModelMatrix = glm::mat4(1.0f);
        miniShipModelMatrix = glm::translate(miniShipModelMatrix,body[i]->m_X) * glm::toMat4((glm::normalize(body[i]->m_Q))) * glm::scale(miniShipModelMatrix,glm::vec3(0.4f,0.4f,0.4f));
        drawObjectColor(&shipModel, miniShipModelMatrix,glm::vec3(0.0f,1.0f,0.0f));
    }