1 files changed, 219 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
new file mode 100644
index 0000000..3655466
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
@@ -0,0 +1,219 @@
+
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "Geom.h"
+
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                Geom::Geom(void)
+                { 
+                        _id = 0;
+                }
+
+
+        //Destructor
+
+                Geom::~Geom(void)
+                {
+                        dGeomDestroy(this->_id);
+                }
+
+
+        //Methods
+                        
+                //Id
+                dGeomID Geom::Id(void)
+                {
+                        return _id;
+                }
+
+
+                //GetBody
+                dBodyID Geom::GetBody(void)
+                {
+                        return dGeomGetBody(this->_id);
+                }
+
+
+                //Overloaded SetBody
+                void Geom::SetBody(Body &body)
+                {
+                        dGeomSetBody(this->_id, body.Id());
+                }
+
+                //void Geom::SetBody(dBodyID b)
+                //{
+                //      dGeomSetBody(this->_id, b);
+                //}
+
+
+                //SetPosition
+                void Geom::SetPosition(double x, double y, double z)
+                {
+                        dGeomSetPosition(this->_id, x, y, z);
+                }
+
+
+                //SetRotation
+                void Geom::SetRotation(Matrix3 rotation)
+                {
+                        dMatrix3 temp;
+                        temp[0] = rotation.m11;  
+                        temp[4] = rotation.m12;  
+                        temp[8] = rotation.m13; 
+                        temp[1] = rotation.m21;
+                        temp[5] = rotation.m22; 
+                        temp[9] = rotation.m23; 
+                        temp[2] = rotation.m31; 
+                        temp[6] = rotation.m32; 
+                        temp[10] = rotation.m33;
+                        dGeomSetRotation(_id, temp);
+                }
+                
+                
+                //Destroy
+                void Geom::Destroy() 
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = 0;
+                }
+
+
+                //SetData
+                void Geom::SetData(void *data)
+                {
+                        dGeomSetData(this->_id, data);
+                }
+
+
+                //GetData
+                void *Geom::GetData(void)
+                {
+                        return dGeomGetData(this->_id);
+                }
+
+
+                //GetPosition
+                Vector3 Geom::GetPosition(void)
+                {
+                        Vector3 retVal;
+                        const dReal *temp;
+                        temp = dGeomGetPosition(this->_id);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //GetRotation (left handed system=>transpose)
+                Matrix3 Geom::GetRotation(void)
+                {
+                        Matrix3 retVal;
+                        const dReal *temp;
+                        temp = dGeomGetRotation(this->_id);
+                        retVal.m11 = temp[0];
+                        retVal.m12 = temp[4];
+                        retVal.m13 = temp[8];
+                        retVal.m21 = temp[1];
+                        retVal.m22 = temp[5];
+                        retVal.m23 = temp[9];
+                        retVal.m31 = temp[2];
+                        retVal.m32 = temp[6];
+                        retVal.m33 = temp[10];
+                        return retVal;  
+                }
+
+
+                //CreateSphere
+                void Geom::CreateSphere(Space &space, double radius)
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreateSphere(space.Id(), radius);
+                }
+
+
+                //CreateBox
+                void Geom::CreateBox(Space &space, double lx, double ly, double lz)
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreateBox(space.Id(), lx, ly, lz);
+                }
+
+                
+                //CreatePlane
+                void Geom::CreatePlane(Space &space, double a, double b, double c, double d) 
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreatePlane(space.Id(), a, b, c, d);
+                }
+
+
+                //CreateCCylinder
+                void Geom::CreateCCylinder(Space &space, double radius, double length)
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreateCCylinder(space.Id(), radius, length);
+                }
+        
+
+                //SphereGetRadius
+                double Geom::SphereGetRadius(void)
+                {
+                        return dGeomSphereGetRadius(this->_id);
+                }
+                
+                
+                //BoxGetLengths
+                Vector3 Geom::BoxGetLengths(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dGeomBoxGetLengths(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //PlaneGetParams
+                Vector4 Geom::PlaneGetParams(void)
+                {
+                        Vector4 retVal;
+                        dVector4 temp;
+                        dGeomPlaneGetParams(this->_id, temp);
+                        retVal.W = temp[0];
+                        retVal.x = temp[1];
+                        retVal.y = temp[2];
+                        retVal.z = temp[3];
+                        return retVal;
+                }
+                
+                
+                //CCylinderGetParams
+                void Geom::CCylinderGetParams(double *radius, double *length)
+                {
+                        dGeomCCylinderGetParams(this->_id, radius, length);
+                }
+                
+
+                //GetClass
+                int Geom::GetClass(void)
+                {
+                        return dGeomGetClass(this->_id);
+                }
+                
+}
+
+
+
+
+
+
+