68 lines
2.0 KiB
C++
68 lines
2.0 KiB
C++
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#ifndef ODEWORLD_H
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#define ODEWORLD_H
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#include <ode/ode.h>
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#include <vector>
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#include <string>
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#include <map>
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class OdeWorld
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{
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public:
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OdeWorld();
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~OdeWorld();
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class Object
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{
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public:
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Object(bool is_static, dWorldID world, dSpaceID space);
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Object(const Object & orig);
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void loadPhy(const std::string & path);
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void setPosition(double x, double y, double z);
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void getPosition(double * x, double * y, double * z);
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const dReal * getPosition();
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const dReal * getRotation();
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std::vector<dGeomID> loadPhy(const std::string & path,
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dBodyID * body, bool is_static = false);
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void addCube(const std::vector<float> args);
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void addSphere(const std::vector<float> args);
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void addCylinder(const std::vector<float> args);
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void addCCylinder(const std::vector<float> args);
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void addPlane(const std::vector<float> args);
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protected:
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bool m_is_static;
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dBodyID m_body;
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dWorldID m_world;
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dSpaceID m_space;
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std::vector<dGeomID> m_geoms;
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void setupGeom(dGeomID geom, dMass * mass,
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float locx, float locy, float locz,
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float rotx, float roty, float rotz);
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dGeomID cloneGeom(dGeomID geom, dBodyID body);
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};
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Object * createObject(bool is_static);
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void setGravity(float x, float y, float z)
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{
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dWorldSetGravity(m_world, x, y, z);
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}
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void step();
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friend void OdeWorld_collide_callback(void * data,
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dGeomID o1, dGeomID o2);
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static void pushTransform(const dReal * pos, const dReal * R);
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protected:
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dWorldID m_world;
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dSpaceID m_space;
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dJointGroupID m_contactJointGroup;
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std::map<std::string, dGeomID> m_objects;
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};
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#endif
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