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OdeWorld keeping track of all bodies so that when removing one it can re-enable the rest

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git-svn-id: svn://anubis/misc/OdeWorld@204 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2009-11-14 14:20:38 +00:00
parent 70355ffe6c
commit 156bf27864
2 changed files with 34 additions and 6 deletions
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32
OdeWorld.cc
View File

@ -63,7 +63,7 @@ void OdeWorld::step()
OdeWorld::Object * OdeWorld::createObject(bool is_static, float scale)
{
return new Object(is_static, m_world, m_space, scale);
return new Object(is_static, this, m_world, m_space, scale);
}
/* push an OpenGL matrix onto the matrix stack for a given
@ -91,7 +91,27 @@ void OdeWorld::pushTransform(const dReal * pos, const dReal * R)
glMultMatrixf(matrix);
}
OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space,
dBodyID OdeWorld::createBody()
{
dBodyID id = dBodyCreate(m_world);
m_bodies[id] = 1;
return id;
}
void OdeWorld::destroyBody(dBodyID body)
{
m_bodies.erase(body);
dBodyDestroy(body);
for (std::map<dBodyID, int>::iterator it = m_bodies.begin();
it != m_bodies.end();
it++)
{
dBodyEnable(it->first);
}
}
OdeWorld::Object::Object(bool is_static, OdeWorld * ode_world,
dWorldID world, dSpaceID space,
float scale)
{
m_is_static = is_static;
@ -99,6 +119,7 @@ OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space,
m_space = space;
m_body = 0;
m_scale = scale;
m_ode_world = ode_world;
dMassSetZero(&m_mass);
for (int i = 0; i < 3; i++)
m_position[i] = 0.0;
@ -113,6 +134,7 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
m_world = orig.m_world;
m_space = orig.m_space;
m_scale = orig.m_scale;
m_ode_world = orig.m_ode_world;
for (int i = 0; i < 3; i++)
m_position[i] = orig.m_position[i];
for (int i = 0; i < 12; i++)
@ -120,7 +142,7 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
/* make a copy of the ODE body */
if (orig.m_body != 0)
{
m_body = dBodyCreate(m_world);
m_body = m_ode_world->createBody();
m_mass = orig.m_mass;
dBodySetMass(m_body, &m_mass);
const dReal * pos = dBodyGetPosition(orig.m_body);
@ -166,7 +188,7 @@ OdeWorld::Object::~Object()
for (int i = 0, sz = m_geoms.size(); i < sz; i++)
dGeomDestroy(m_geoms[i]);
if (m_body != 0)
dBodyDestroy(m_body);
m_ode_world->destroyBody(m_body);
}
dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
@ -366,7 +388,7 @@ void OdeWorld::Object::setupGeom(dGeomID geom, dMass * mass,
{
/* attach the geometry to the body */
if (m_body == 0)
m_body = dBodyCreate(m_world);
m_body = m_ode_world->createBody();
dGeomSetBody(transform, m_body);

8
OdeWorld.h
View File

@ -19,7 +19,8 @@ class OdeWorld
class Object
{
public:
Object(bool is_static, dWorldID world, dSpaceID space,
Object(bool is_static, OdeWorld * ode_world,
dWorldID world, dSpaceID space,
float scale = 1.0f);
Object(const Object & orig);
~Object();
@ -50,6 +51,7 @@ class OdeWorld
float m_scale;
dReal m_position[3];
dReal m_rotation[12];
OdeWorld * m_ode_world;
void setupGeom(dGeomID geom, dMass * mass,
float locx, float locy, float locz,
@ -70,9 +72,13 @@ class OdeWorld
static void pushTransform(const dReal * pos, const dReal * R);
protected:
dBodyID createBody();
void destroyBody(dBodyID body);
dWorldID m_world;
dSpaceID m_space;
dJointGroupID m_contactJointGroup;
std::map<dBodyID, int> m_bodies;
};
#endif