josh/OdeWorld
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removed placeable parameter to setupGeom as it is only called with placeable objects

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git-svn-id: svn://anubis/misc/OdeWorld@153 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2009-09-29 02:22:52 +00:00
parent e56b943003
commit 834b846755
2 changed files with 13 additions and 15 deletions
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26
OdeWorld.cc
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@ -152,7 +152,7 @@ dGeomID OdeWorld::addCube(const string & name, bool static_data,
dMass mass; dMass mass;
dMassSetBox(&mass, 1.0, args[0], args[1], args[2]); dMassSetBox(&mass, 1.0, args[0], args[1], args[2]);
dMassTranslate(&mass, args[3], args[4], args[5]); dMassTranslate(&mass, args[3], args[4], args[5]);
setupGeom(name, static_data, body, id, true, &mass, setupGeom(name, static_data, body, id, &mass,
args[3], args[4], args[5], args[3], args[4], args[5],
args[6], args[7], args[8]); args[6], args[7], args[8]);
return id; return id;
@ -167,7 +167,7 @@ dGeomID OdeWorld::addSphere(const string & name, bool static_data,
dMass mass; dMass mass;
dMassSetSphere(&mass, 1.0, args[0]); dMassSetSphere(&mass, 1.0, args[0]);
dMassTranslate(&mass, args[1], args[2], args[3]); dMassTranslate(&mass, args[1], args[2], args[3]);
setupGeom(name, static_data, body, id, true, &mass, setupGeom(name, static_data, body, id, &mass,
args[1], args[2], args[3], args[1], args[2], args[3],
0.0, 0.0, 0.0); 0.0, 0.0, 0.0);
return id; return id;
@ -182,7 +182,7 @@ dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
dMass mass; dMass mass;
dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]); dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
dMassTranslate(&mass, args[2], args[3], args[4]); dMassTranslate(&mass, args[2], args[3], args[4]);
setupGeom(name, static_data, body, id, true, &mass, setupGeom(name, static_data, body, id, &mass,
args[2], args[3], args[4], args[2], args[3], args[4],
args[5], args[6], args[7]); args[5], args[6], args[7]);
return id; return id;
@ -195,9 +195,9 @@ dGeomID OdeWorld::addCCylinder(const string & name, bool static_data,
return 0; return 0;
dGeomID id = dCreateCCylinder(m_space, args[0], args[1]); dGeomID id = dCreateCCylinder(m_space, args[0], args[1]);
dMass mass; dMass mass;
dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]); dMassSetCappedCylinder(&mass, 1.0, 3, args[0], args[1]);
dMassTranslate(&mass, args[2], args[3], args[4]); dMassTranslate(&mass, args[2], args[3], args[4]);
setupGeom(name, static_data, body, id, true, &mass, setupGeom(name, static_data, body, id, &mass,
args[2], args[3], args[4], args[2], args[3], args[4],
args[5], args[6], args[7]); args[5], args[6], args[7]);
return id; return id;
@ -211,23 +211,21 @@ dGeomID OdeWorld::addPlane(const string & name, bool static_data,
float a, b, c, d; float a, b, c, d;
/* TODO: find a, b, c, d from args */ /* TODO: find a, b, c, d from args */
dGeomID id = dCreatePlane(m_space, a, b, c, d); dGeomID id = dCreatePlane(m_space, a, b, c, d);
setupGeom(name, static_data, body, id, false, NULL,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
return id; return id;
} }
void OdeWorld::setupGeom(const std::string & name, bool static_data, void OdeWorld::setupGeom(const std::string & name, bool static_data,
dBodyID * body, dGeomID geom, bool placeable, dMass * mass, dBodyID * body, dGeomID geom, dMass * mass,
float locx, float locy, float locz, float locx, float locy, float locz,
float rotx, float roty, float rotz) float rotx, float roty, float rotz)
{ {
if (placeable && !static_data && *body == 0) if (!static_data)
*body = dBodyCreate(m_world);
if (placeable)
dGeomSetBody(geom, *body);
/* TODO: set up mass, location, and rotation */
if (placeable)
{ {
if (*body == 0)
*body = dBodyCreate(m_world);
dGeomSetBody(geom, *body);
dMatrix3 rot; dMatrix3 rot;
dRFromEulerAngles(rot, rotx, roty, rotz); dRFromEulerAngles(rot, rotx, roty, rotz);
dGeomSetRotation(geom, rot); dGeomSetRotation(geom, rot);

2
OdeWorld.h
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@ -40,7 +40,7 @@ class OdeWorld
std::map<std::string, dGeomID> m_objects; std::map<std::string, dGeomID> m_objects;
void setupGeom(const std::string & name, bool static_data, void setupGeom(const std::string & name, bool static_data,
dBodyID * body, dGeomID geom, bool placeable, dMass * mass, dBodyID * body, dGeomID geom, dMass * mass,
float locx, float locy, float locz, float locx, float locy, float locz,
float rotx, float roty, float rotz); float rotx, float roty, float rotz);
}; };