From a60a729b496ed1a872cebe319e1203c0b6c5022a Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Mon, 28 Sep 2009 02:24:28 +0000
Subject: [PATCH] filling out the add*() functions more

git-svn-id: svn://anubis/misc/OdeWorld@150 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 34 ++++++++++++++++++++++++++++++++++
 OdeWorld.h  |  4 ++++
 2 files changed, 38 insertions(+)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index e163857..a259028 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -143,11 +143,21 @@ 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);
+    return id;
 }
 
 dGeomID OdeWorld::addSphere(const string & name, bool static_data,
@@ -155,6 +165,10 @@ 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);
+    return id;
 }
 
 dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
@@ -162,6 +176,21 @@ 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);
+    return id;
+}
+
+dGeomID OdeWorld::addCCylinder(const string & name, bool static_data,
+        dBodyID * body, const vector<float> args)
+{
+    if (args.size() != 8)
+        return 0;
+    setupBody(static_data, body);
+    dGeomID id = dCreateCCylinder(m_space, args[0], args[1]);
+    dGeomSetBody(id, *body);
+    return id;
 }
 
 dGeomID OdeWorld::addPlane(const string & name, bool static_data,
@@ -169,5 +198,10 @@ 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);
+    return id;
 }
 
diff --git a/OdeWorld.h b/OdeWorld.h
index ac4d7a2..3276805 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -24,6 +24,8 @@ class OdeWorld
                 dBodyID * body, const std::vector<float> args);
         dGeomID addCylinder(const std::string & name, bool static_data,
                 dBodyID * body, const std::vector<float> args);
+        dGeomID addCCylinder(const std::string & name, bool static_data,
+                dBodyID * body, const std::vector<float> args);
         dGeomID addPlane(const std::string & name, bool static_data,
                 dBodyID * body, const std::vector<float> args);
 
@@ -34,6 +36,8 @@ class OdeWorld
         dWorldID        m_world;
         dSpaceID        m_space;
         dJointGroupID   m_contactJointGroup;
+
+        void setupBody(bool static_data, dBodyID * body);
 };
 
 #endif