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setting up mass and rotation in setupGeom()

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git-svn-id: svn://anubis/misc/OdeWorld@152 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2009-09-29 02:10:15 +00:00
parent 925140f3fb
commit e56b943003
2 changed files with 30 additions and 7 deletions
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35
OdeWorld.cc
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@ -149,7 +149,10 @@ dGeomID OdeWorld::addCube(const string & name, bool static_data,
if (args.size() != 9)
return 0;
dGeomID id = dCreateBox(m_space, args[0], args[1], args[2]);
setupGeom(name, static_data, body, id, true,
dMass mass;
dMassSetBox(&mass, 1.0, args[0], args[1], args[2]);
dMassTranslate(&mass, args[3], args[4], args[5]);
setupGeom(name, static_data, body, id, true, &mass,
args[3], args[4], args[5],
args[6], args[7], args[8]);
return id;
@ -161,7 +164,10 @@ dGeomID OdeWorld::addSphere(const string & name, bool static_data,
if (args.size() != 4)
return 0;
dGeomID id = dCreateSphere(m_space, args[0]);
setupGeom(name, static_data, body, id, true,
dMass mass;
dMassSetSphere(&mass, 1.0, args[0]);
dMassTranslate(&mass, args[1], args[2], args[3]);
setupGeom(name, static_data, body, id, true, &mass,
args[1], args[2], args[3],
0.0, 0.0, 0.0);
return id;
@ -173,7 +179,10 @@ dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
if (args.size() != 8)
return 0;
dGeomID id = dCreateCylinder(m_space, args[0], args[1]);
setupGeom(name, static_data, body, id, true,
dMass mass;
dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
dMassTranslate(&mass, args[2], args[3], args[4]);
setupGeom(name, static_data, body, id, true, &mass,
args[2], args[3], args[4],
args[5], args[6], args[7]);
return id;
@ -185,7 +194,10 @@ dGeomID OdeWorld::addCCylinder(const string & name, bool static_data,
if (args.size() != 8)
return 0;
dGeomID id = dCreateCCylinder(m_space, args[0], args[1]);
setupGeom(name, static_data, body, id, true,
dMass mass;
dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
dMassTranslate(&mass, args[2], args[3], args[4]);
setupGeom(name, static_data, body, id, true, &mass,
args[2], args[3], args[4],
args[5], args[6], args[7]);
return id;
@ -199,13 +211,13 @@ dGeomID OdeWorld::addPlane(const string & name, bool static_data,
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,
setupGeom(name, static_data, body, id, false, NULL,
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,
dBodyID * body, dGeomID geom, bool placeable, dMass * mass,
float locx, float locy, float locz,
float rotx, float roty, float rotz)
{
@ -214,4 +226,15 @@ void OdeWorld::setupGeom(const std::string & name, bool static_data,
if (placeable)
dGeomSetBody(geom, *body);
/* TODO: set up mass, location, and rotation */
if (placeable)
{
dMatrix3 rot;
dRFromEulerAngles(rot, rotx, roty, rotz);
dGeomSetRotation(geom, rot);
dMass origmass;
dBodyGetMass(*body, &origmass);
dMassAdd(&origmass, mass);
dBodySetMass(*body, &origmass);
}
}

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