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#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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