josh/OdeWorld
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

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

Browse Source 
git-svn-id: svn://anubis/misc/OdeWorld@182 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2009-10-17 22:21:49 +00:00
parent 24774bfe34
commit 816e04f68f
2 changed files with 58 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

94
OdeWorld.cc
View File

@ -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];
}
}

2
OdeWorld.h
View File

@ -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,