From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:15:33 +0000
Subject: resubmitting ode

---
 libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp | 219 +++++++++++++++++++++++
 1 file changed, 219 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp

(limited to 'libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp')

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);
+		}
+		
+}
+
+
+
+
+
+
+
-- 
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