From 24774bfe3454558f3692aeed1ef7976dafb0590a Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Mon, 12 Oct 2009 21:29:32 +0000
Subject: [PATCH] allowed OdeWorld::Object objects to be initialized with an
 optional scale param

git-svn-id: svn://anubis/misc/OdeWorld@171 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 37 +++++++++++++++++++++++++------------
 OdeWorld.h  |  6 ++++--
 2 files changed, 29 insertions(+), 14 deletions(-)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index 46b22fd..22356b7 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -80,9 +80,9 @@ void OdeWorld::step()
     dJointGroupEmpty(m_contactJointGroup);
 }
 
-OdeWorld::Object * OdeWorld::createObject(bool is_static)
+OdeWorld::Object * OdeWorld::createObject(bool is_static, float scale)
 {
-    return new Object(is_static, m_world, m_space);
+    return new Object(is_static, m_world, m_space, scale);
 }
 
 /* push an OpenGL matrix onto the matrix stack for a given
@@ -110,12 +110,14 @@ void OdeWorld::pushTransform(const dReal * pos, const dReal * R)
     glMultMatrixf(matrix);
 }
 
-OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space)
+OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space,
+        float scale)
 {
     m_is_static = is_static;
     m_world = world;
     m_space = space;
     m_body = 0;
+    m_scale = scale;
     dMassSetZero(&m_mass);
 }
 
@@ -124,6 +126,7 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
     m_is_static = orig.m_is_static;
     m_world = orig.m_world;
     m_space = orig.m_space;
+    m_scale = orig.m_scale;
     /* make a copy of the ODE body */
     if (orig.m_body != 0)
     {
@@ -359,9 +362,15 @@ void OdeWorld::Object::addCube(const vector<float> args)
 {
     if (args.size() != 9)
         return;
-    dGeomID id = dCreateBox(0, args[0], args[1], args[2]);
+    dGeomID id = dCreateBox(0,
+            m_scale * args[0],
+            m_scale * args[1],
+            m_scale * args[2]);
     dMass mass;
-    dMassSetBox(&mass, 1.0, args[0], args[1], args[2]);
+    dMassSetBox(&mass, 1.0,
+            m_scale * args[0],
+            m_scale * args[1],
+            m_scale * args[2]);
     setupGeom(id, &mass,
             args[3], args[4], args[5],
             args[6], args[7], args[8]);
@@ -371,9 +380,9 @@ void OdeWorld::Object::addSphere(const vector<float> args)
 {
     if (args.size() != 4)
         return;
-    dGeomID id = dCreateSphere(0, args[0]);
+    dGeomID id = dCreateSphere(0, m_scale * args[0]);
     dMass mass;
-    dMassSetSphere(&mass, 1.0, args[0]);
+    dMassSetSphere(&mass, 1.0, m_scale * args[0]);
     setupGeom(id, &mass,
             args[1], args[2], args[3],
             0.0, 0.0, 0.0);
@@ -383,9 +392,9 @@ void OdeWorld::Object::addCylinder(const vector<float> args)
 {
     if (args.size() != 8)
         return;
-    dGeomID id = dCreateCylinder(0, args[0], args[1]);
+    dGeomID id = dCreateCylinder(0, m_scale * args[0], m_scale * args[1]);
     dMass mass;
-    dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
+    dMassSetCylinder(&mass, 1.0, 3, m_scale * args[0], m_scale * args[1]);
     setupGeom(id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
@@ -395,9 +404,9 @@ void OdeWorld::Object::addCCylinder(const vector<float> args)
 {
     if (args.size() != 8)
         return;
-    dGeomID id = dCreateCCylinder(0, args[0], args[1]);
+    dGeomID id = dCreateCCylinder(0, m_scale * args[0], m_scale * args[1]);
     dMass mass;
-    dMassSetCappedCylinder(&mass, 1.0, 3, args[0], args[1]);
+    dMassSetCappedCylinder(&mass, 1.0, 3, m_scale * args[0], m_scale * args[1]);
     setupGeom(id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
@@ -417,7 +426,7 @@ void OdeWorld::Object::addPlane(const vector<float> args)
     float a = rotated_plane_direction[0];
     float b = rotated_plane_direction[1];
     float c = rotated_plane_direction[2];
-    float d = a * args[0] + b * args[1] + c * args[2];
+    float d = m_scale * (a * args[0] + b * args[1] + c * args[2]);
 
     dGeomID id = dCreatePlane(m_space, a, b, c, d);
     m_geoms.push_back(id);
@@ -427,6 +436,10 @@ void OdeWorld::Object::setupGeom(dGeomID geom, dMass * mass,
         float locx, float locy, float locz,
         float rotx, float roty, float rotz)
 {
+    locx = m_scale * locx;
+    locy = m_scale * locy;
+    locz = m_scale * locz;
+
     dMatrix3 rot;
     dRFromEulerAngles(rot, rotx, roty, rotz);
     dGeomSetRotation(geom, rot);
diff --git a/OdeWorld.h b/OdeWorld.h
index c4cae6b..735dfc1 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -16,7 +16,8 @@ class OdeWorld
         class Object
         {
             public:
-                Object(bool is_static, dWorldID world, dSpaceID space);
+                Object(bool is_static, dWorldID world, dSpaceID space,
+                        float scale = 1.0f);
                 Object(const Object & orig);
                 ~Object();
 
@@ -40,6 +41,7 @@ class OdeWorld
                 dWorldID m_world;
                 dSpaceID m_space;
                 std::vector<dGeomID> m_geoms;
+                float   m_scale;
 
                 void setupGeom(dGeomID geom, dMass * mass,
                         float locx, float locy, float locz,
@@ -47,7 +49,7 @@ class OdeWorld
                 dGeomID cloneGeom(dGeomID geom, dBodyID body);
         };
 
-        Object * createObject(bool is_static);
+        Object * createObject(bool is_static, float scale = 1.0f);
         void setGravity(float x, float y, float z)
         {
             dWorldSetGravity(m_world, x, y, z);