From ccb6708633d359e15bd0ee2ff6c5b42d271de665 Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Thu, 8 Oct 2009 04:11:43 +0000
Subject: [PATCH] added createObject() factory method, get position/rotation
 functions for Objects

git-svn-id: svn://anubis/misc/OdeWorld@162 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 31 +++++++++++++++++++++++++++++++
 OdeWorld.h  |  3 +++
 2 files changed, 34 insertions(+)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index acacaa0..ca0a03f 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -80,6 +80,11 @@ void OdeWorld::step()
     dJointGroupEmpty(m_contactJointGroup);
 }
 
+OdeWorld::Object * OdeWorld::createObject(bool is_static)
+{
+    return new Object(is_static, m_world, m_space);
+}
+
 /* push an OpenGL matrix onto the matrix stack for a given
  * ODE body position and rotation */
 void OdeWorld::pushTransform(const float pos[3], const float R[12])
@@ -306,3 +311,29 @@ void OdeWorld::Object::setupGeom(dGeomID geom, dMass * mass,
         dBodySetMass(m_body, &origmass);
     }
 }
+
+const dReal * OdeWorld::Object::getPosition()
+{
+    if (m_body != NULL)
+    {
+        return dBodyGetPosition(m_body);
+    }
+    else if (m_geoms.size() > 0)
+    {
+        return dGeomGetPosition(m_geoms[0]);
+    }
+    return NULL;
+}
+
+const dReal * OdeWorld::Object::getRotation()
+{
+    if (m_body != NULL)
+    {
+        return dBodyGetRotation(m_body);
+    }
+    else if (m_geoms.size() > 0)
+    {
+        return dGeomGetRotation(m_geoms[0]);
+    }
+    return NULL;
+}
diff --git a/OdeWorld.h b/OdeWorld.h
index 60b6773..ee190d1 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -21,6 +21,8 @@ class OdeWorld
                 void loadPhy(const std::string & path);
                 void setPosition(double x, double y, double z);
                 void getPosition(double * x, double * y, double * z);
+                const dReal * getPosition();
+                const dReal * getRotation();
                 std::vector<dGeomID> loadPhy(const std::string & path,
                         dBodyID * body, bool is_static = false);
                 void addCube(const std::vector<float> args);
@@ -42,6 +44,7 @@ class OdeWorld
 
         };
 
+        Object * createObject(bool is_static);
         void setGravity(float x, float y, float z)
         {
             dWorldSetGravity(m_world, x, y, z);