supported setting/getting a position/rotation for ODE objects with neither a body nor a geometry so that they can still be drawn in a certain orientation even if they do not participate in physics at all

git-svn-id: svn://anubis/misc/OdeWorld@182 bd8a9e45-a331-0410-811e-c64571078777

OdeWorld.cc

@@ -119,6 +119,11 @@ OdeWorld::Object::Object(bool is_static, dWorldID world, dSpaceID space,
     m_body = 0;
     m_scale = scale;
     dMassSetZero(&m_mass);
+    for (int i = 0; i < 3; i++)
+        m_position[i] = 0.0;
+    for (int j = 0; j < 3; j++)
+        for (int i = 0; i < 4; i++)
+            m_rotation[j * 4 + i] = (j == i) ? 1.0 : 0.0;
 }
 
 OdeWorld::Object::Object(const OdeWorld::Object & orig)
@@ -127,6 +132,10 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
     m_world = orig.m_world;
     m_space = orig.m_space;
     m_scale = orig.m_scale;
+    for (int i = 0; i < 3; i++)
+        m_position[i] = orig.m_position[i];
+    for (int i = 0; i < 12; i++)
+        m_rotation[i] = orig.m_rotation[i];
     /* make a copy of the ODE body */
     if (orig.m_body != 0)
     {
@@ -259,42 +268,6 @@ dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
     return id;
 }
 
-void OdeWorld::Object::setPosition(double x, double y, double z)
-{
-    if (m_is_static)
-    {
-        for (int i = 0, sz = m_geoms.size(); i < sz; i++)
-            dGeomSetPosition(m_geoms[i], x, y, z);
-    }
-    else
-    {
-        if (m_body != 0)
-            dBodySetPosition(m_body, x, y, z);
-    }
-}
-
-void OdeWorld::Object::getPosition(double * x, double * y, double * z)
-{
-    const dReal * pos = NULL;
-    if (m_is_static)
-    {
-        if (m_geoms.size() > 0)
-            pos = dGeomGetPosition(m_geoms[0]);
-    }
-    else
-    {
-        if (m_body != 0)
-            pos = dBodyGetPosition(m_body);
-    }
-
-    if (pos != NULL)
-    {
-        *x = pos[0];
-        *y = pos[1];
-        *z = pos[2];
-    }
-}
-
 void OdeWorld::Object::loadPhy(const std::string & path)
 {
     ifstream ifs(path.c_str());
@@ -476,7 +449,7 @@ const dReal * OdeWorld::Object::getPosition()
     {
         return dGeomGetPosition(m_geoms[0]);
     }
-    return NULL;
+    return m_position;
 }
 
 const dReal * OdeWorld::Object::getRotation()
@@ -489,5 +462,50 @@ const dReal * OdeWorld::Object::getRotation()
     {
         return dGeomGetRotation(m_geoms[0]);
     }
-    return NULL;
+    return m_rotation;
+}
+
+void OdeWorld::Object::setPosition(double x, double y, double z)
+{
+    if (m_is_static)
+    {
+        for (int i = 0, sz = m_geoms.size(); i < sz; i++)
+            dGeomSetPosition(m_geoms[i], x, y, z);
+    }
+    else
+    {
+        if (m_body != 0)
+            dBodySetPosition(m_body, x, y, z);
+    }
+    m_position[0] = x;
+    m_position[1] = y;
+    m_position[2] = z;
+}
+
+void OdeWorld::Object::getPosition(double * x, double * y, double * z)
+{
+    const dReal * pos = NULL;
+    if (m_is_static)
+    {
+        if (m_geoms.size() > 0)
+            pos = dGeomGetPosition(m_geoms[0]);
+    }
+    else
+    {
+        if (m_body != 0)
+            pos = dBodyGetPosition(m_body);
+    }
+
+    if (pos != NULL)
+    {
+        *x = pos[0];
+        *y = pos[1];
+        *z = pos[2];
+    }
+    else
+    {
+        *x = m_position[0];
+        *y = m_position[1];
+        *z = m_position[2];
+    }
 }

OdeWorld.h

@@ -42,6 +42,8 @@ class OdeWorld
                 dSpaceID m_space;
                 std::vector<dGeomID> m_geoms;
                 float   m_scale;
+                dReal   m_position[3];
+                dReal   m_rotation[12];
 
                 void setupGeom(dGeomID geom, dMass * mass,
                         float locx, float locy, float locz,