addons/ODE/source/geom.c

   1 // Copyright (c) 2006, Jonathan Wright
   2
   3 #include "geom.h"
   4 #include "IoODEBox.h"
   5 #include "IoODEPlane.h"
   6 #include "IoODEContact.h"
   7 #include "IoList.h"
   8
   9 #define DATA(self) ((IoODEGeomData *)IoObject_dataPointer(self))
  10
  11 int ISODEGEOM(IoObject *self)
  12 {
  13     return ISODEBOX(self) || ISODEPLANE(self);
  14 }
  15
  16 IoObject *IoMessage_locals_odeGeomArgAt_(IoMessage *self, void *locals, int n)
  17 {
  18         IoObject *g = IoMessage_locals_valueArgAt_(self, locals, n);
  19
  20         if (!ISODEGEOM(g) && !ISNIL(g))
  21         {
  22                 IoMessage_locals_numberArgAt_errorForType_(self, locals, n, "ODEGeom");
  23         }
  24
  25         return g;
  26 }
  27
  28 dGeomID IoMessage_locals_odeGeomIdArgAt_(IoMessage *self, void *locals, int n)
  29 {
  30         IoObject *geom = IoMessage_locals_odeGeomArgAt_(self, locals, n);
  31
  32         if (ISNIL(geom))
  33         {
  34                 return 0;
  35         }
  36         else
  37         {
  38                 return DATA(geom)->geomId;
  39         }
  40 }
  41
  42 IoObject *IoODEGeom_geomFromId(void *state, dGeomID id)
  43 {
  44         if (id == 0)
  45         {
  46                 return ((IoState*)state)->ioNil;
  47         }
  48         else
  49         {
  50                 return (IoObject*)dGeomGetData(id);
  51         }
  52 }
  53
  54 IoObject *IoODEGeom_collide(IoObject *self, IoObject *locals, IoMessage *m)
  55 {
  56         dGeomID g1 = DATA(self)->geomId;
  57         dGeomID g2 = IoMessage_locals_odeGeomIdArgAt_(m, locals, 0);
  58
  59         int max = IoMessage_argCount(m) > 1 ? IoMessage_locals_doubleArgAt_(m, locals, 1) : 1;
  60         dContactGeom* contacts = calloc(max, sizeof(*contacts));
  61
  62         int count = dCollide(g1, g2, max, contacts, sizeof(*contacts));
  63
  64         IoList *result = IoList_new(IOSTATE);
  65         int i;
  66
  67         for(i=0; i < count; i++)
  68         {
  69                 IoODEContact *contact = IoODEContact_newContactGeom(IOSTATE, &(contacts[i]));
  70                 IoList_rawAppend_(result, contact);
  71         }
  72
  73         free(contacts);
  74         return result;
  75 }