From 925140f3fbcd9da3e459971ec516cb1a0d061b3e Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Mon, 28 Sep 2009 02:32:39 +0000
Subject: [PATCH] replaced setupBody() with setupGeom()

git-svn-id: svn://anubis/misc/OdeWorld@151 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 40 +++++++++++++++++++++++++---------------
 OdeWorld.h  |  7 ++++++-
 2 files changed, 31 insertions(+), 16 deletions(-)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index a259028..daafba1 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -143,20 +143,15 @@ vector<dGeomID> OdeWorld::loadPhy(const std::string & path,
     return ret;
 }
 
-void OdeWorld::setupBody(bool static_data, dBodyID * body)
-{
-    if (!static_data && *body == 0)
-        *body = dBodyCreate(m_world);
-}
-
 dGeomID OdeWorld::addCube(const string & name, bool static_data,
         dBodyID * body, const vector<float> args)
 {
     if (args.size() != 9)
         return 0;
-    setupBody(static_data, body);
     dGeomID id = dCreateBox(m_space, args[0], args[1], args[2]);
-    dGeomSetBody(id, *body);
+    setupGeom(name, static_data, body, id, true,
+            args[3], args[4], args[5],
+            args[6], args[7], args[8]);
     return id;
 }
 
@@ -165,9 +160,10 @@ dGeomID OdeWorld::addSphere(const string & name, bool static_data,
 {
     if (args.size() != 4)
         return 0;
-    setupBody(static_data, body);
     dGeomID id = dCreateSphere(m_space, args[0]);
-    dGeomSetBody(id, *body);
+    setupGeom(name, static_data, body, id, true,
+            args[1], args[2], args[3],
+            0.0, 0.0, 0.0);
     return id;
 }
 
@@ -176,9 +172,10 @@ dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
 {
     if (args.size() != 8)
         return 0;
-    setupBody(static_data, body);
     dGeomID id = dCreateCylinder(m_space, args[0], args[1]);
-    dGeomSetBody(id, *body);
+    setupGeom(name, static_data, body, id, true,
+            args[2], args[3], args[4],
+            args[5], args[6], args[7]);
     return id;
 }
 
@@ -187,9 +184,10 @@ dGeomID OdeWorld::addCCylinder(const string & name, bool static_data,
 {
     if (args.size() != 8)
         return 0;
-    setupBody(static_data, body);
     dGeomID id = dCreateCCylinder(m_space, args[0], args[1]);
-    dGeomSetBody(id, *body);
+    setupGeom(name, static_data, body, id, true,
+            args[2], args[3], args[4],
+            args[5], args[6], args[7]);
     return id;
 }
 
@@ -198,10 +196,22 @@ dGeomID OdeWorld::addPlane(const string & name, bool static_data,
 {
     if (args.size() != 6)
         return 0;
-    setupBody(static_data, body);
     float a, b, c, d;
     /* TODO: find a, b, c, d from args */
     dGeomID id = dCreatePlane(m_space, a, b, c, d);
+    setupGeom(name, static_data, body, id, false,
+            0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
     return id;
 }
 
+void OdeWorld::setupGeom(const std::string & name, bool static_data,
+        dBodyID * body, dGeomID geom, bool placeable,
+        float locx, float locy, float locz,
+        float rotx, float roty, float rotz)
+{
+    if (placeable && !static_data && *body == 0)
+        *body = dBodyCreate(m_world);
+    if (placeable)
+        dGeomSetBody(geom, *body);
+    /* TODO: set up mass, location, and rotation */
+}
diff --git a/OdeWorld.h b/OdeWorld.h
index 3276805..22aab79 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -5,6 +5,7 @@
 #include <ode/ode.h>
 #include <vector>
 #include <string>
+#include <map>
 
 class OdeWorld
 {
@@ -36,8 +37,12 @@ class OdeWorld
         dWorldID        m_world;
         dSpaceID        m_space;
         dJointGroupID   m_contactJointGroup;
+        std::map<std::string, dGeomID> m_objects;
 
-        void setupBody(bool static_data, dBodyID * body);
+        void setupGeom(const std::string & name, bool static_data,
+                dBodyID * body, dGeomID geom, bool placeable,
+                float locx, float locy, float locz,
+                float rotx, float roty, float rotz);
 };
 
 #endif