From 95045f64707b902a3d4f2f1affd797553947fed6 Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Thu, 16 Sep 2010 21:12:47 +0000
Subject: [PATCH] changed OdeWorld::pickObjects to return distance, position,
 and normal information along with object identifier

git-svn-id: svn://anubis/misc/OdeWorld@240 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 19 ++++++-------------
 OdeWorld.h  | 30 ++++++++++++++----------------
 2 files changed, 20 insertions(+), 29 deletions(-)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index a472bd3..b812640 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -47,7 +47,7 @@ void OdeWorld_pick_collide_callback(void * data, dGeomID o1, dGeomID o2)
     {
         dGeomID other = o1 == ow->m_pick_ray ? o2 : o1;
         ow->m_pick_points.push_back(
-                new OdeWorld::PickedGeom(other, contact_geom.depth));
+                new OdeWorld::PickedObject(other, contact_geom));
     }
 }
 
@@ -140,13 +140,13 @@ dJointID OdeWorld::createHinge(dBodyID b1, dBodyID b2,
     return j;
 }
 
-static bool RPPickedGeomComparator(const refptr<OdeWorld::PickedGeom> & one,
-        const refptr<OdeWorld::PickedGeom> & two)
+static bool RPPickedObjectComparator(const refptr<OdeWorld::PickedObject> & one,
+        const refptr<OdeWorld::PickedObject> & two)
 {
     return one->dist < two->dist;
 }
 
-refptr< vector<OdeWorld::Object *> > OdeWorld::pickObjects(
+refptr< vector< OdeWorld::PickedObjectRef > > OdeWorld::pickObjects(
         float start_x, float start_y, float start_z,
         float dir_x, float dir_y, float dir_z)
 {
@@ -156,15 +156,8 @@ refptr< vector<OdeWorld::Object *> > OdeWorld::pickObjects(
     dSpaceCollide2(m_pick_ray, (dGeomID) m_space,
             this, OdeWorld_pick_collide_callback);
     std::sort(m_pick_points.begin(), m_pick_points.end(),
-            RPPickedGeomComparator);
-    refptr< vector<Object *> > ret = new vector<Object *>();
-    for (vector< refptr<PickedGeom> >::const_iterator it = m_pick_points.begin();
-         it != m_pick_points.end();
-         it++)
-    {
-        ret->push_back((Object *) dGeomGetData((*it)->geom));
-    }
-    return ret;
+            RPPickedObjectComparator);
+    return new vector<OdeWorld::PickedObjectRef>(m_pick_points);
 }
 
 void OdeWorld::destroyBody(dBodyID body)
diff --git a/OdeWorld.h b/OdeWorld.h
index 543d695..dedf6c7 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -76,29 +76,27 @@ class OdeWorld
                 dGeomID cloneGeom(dGeomID geom, dBodyID body);
         };
 
-        class PickedGeom
-        {
-            public:
-                dGeomID     geom;
-                float       dist;
-
-                PickedGeom(dGeomID g, float d)
-                    : geom(g), dist(d)
-                {
-                }
-        };
-
         class PickedObject
         {
             public:
                 Object * obj;
                 float dist;
+                float pos[3];
+                float normal[3];
 
-                PickedObject(Object * obj, float dist)
-                    : obj(obj), dist(dist)
+                PickedObject(dGeomID geom, dContactGeom & contact)
                 {
+                    obj = (Object *) dGeomGetData(geom);
+                    dist = contact.depth;
+                    pos[0] = contact.pos[0];
+                    pos[1] = contact.pos[1];
+                    pos[2] = contact.pos[2];
+                    normal[0] = contact.normal[0];
+                    normal[1] = contact.normal[1];
+                    normal[2] = contact.normal[2];
                 }
         };
+        typedef refptr<PickedObject> PickedObjectRef;
 
         OdeWorld();
         ~OdeWorld();
@@ -174,7 +172,7 @@ class OdeWorld
 #endif
             dJointSetAMotorParam(j, dParamBounce, val);
         }
-        refptr< std::vector<Object *> > pickObjects(
+        refptr< std::vector<PickedObjectRef> > pickObjects(
                 float start_x, float start_y, float start_z,
                 float dir_x, float dir_y, float dir_z);
 
@@ -195,7 +193,7 @@ class OdeWorld
         dJointGroupID   m_contactJointGroup;
         std::map<dBodyID, int>  m_bodies;
         dGeomID         m_pick_ray;
-        std::vector< refptr<PickedGeom> > m_pick_points;
+        std::vector< refptr<PickedObject> > m_pick_points;
 };
 
 #endif