contrib/DotNetManaged/Geom.cpp

   1
   2 #include "StdAfx.h"
   3
   4 #include <ode/ode.h>
   5 #include "Geom.h"
   6
   7
   8 namespace ODEManaged
   9 {
  10
  11         //Constructors
  12
  13                 Geom::Geom(void)
  14                 {
  15                         _id = 0;
  16                 }
  17
  18
  19         //Destructor
  20
  21                 Geom::~Geom(void)
  22                 {
  23                         dGeomDestroy(this->_id);
  24                 }
  25
  26
  27         //Methods
  28
  29                 //Id
  30                 dGeomID Geom::Id(void)
  31                 {
  32                         return _id;
  33                 }
  34
  35
  36                 //GetBody
  37                 dBodyID Geom::GetBody(void)
  38                 {
  39                         return dGeomGetBody(this->_id);
  40                 }
  41
  42
  43                 //Overloaded SetBody
  44                 void Geom::SetBody(Body &body)
  45                 {
  46                         dGeomSetBody(this->_id, body.Id());
  47                 }
  48
  49                 //void Geom::SetBody(dBodyID b)
  50                 //{
  51                 //      dGeomSetBody(this->_id, b);
  52                 //}
  53
  54
  55                 //SetPosition
  56                 void Geom::SetPosition(double x, double y, double z)
  57                 {
  58                         dGeomSetPosition(this->_id, x, y, z);
  59                 }
  60
  61
  62                 //SetRotation
  63                 void Geom::SetRotation(Matrix3 rotation)
  64                 {
  65                         dMatrix3 temp;
  66                         temp[0] = rotation.m11;
  67                         temp[4] = rotation.m12;
  68                         temp[8] = rotation.m13;
  69                         temp[1] = rotation.m21;
  70                         temp[5] = rotation.m22;
  71                         temp[9] = rotation.m23;
  72                         temp[2] = rotation.m31;
  73                         temp[6] = rotation.m32;
  74                         temp[10] = rotation.m33;
  75                         dGeomSetRotation(_id, temp);
  76                 }
  77
  78
  79                 //Destroy
  80                 void Geom::Destroy()
  81                 {
  82                         if(this->_id) dGeomDestroy(this->_id);
  83                         _id = 0;
  84                 }
  85
  86
  87                 //SetData
  88                 void Geom::SetData(void *data)
  89                 {
  90                         dGeomSetData(this->_id, data);
  91                 }
  92
  93
  94                 //GetData
  95                 void *Geom::GetData(void)
  96                 {
  97                         return dGeomGetData(this->_id);
  98                 }
  99
 100
 101                 //GetPosition
 102                 Vector3 Geom::GetPosition(void)
 103                 {
 104                         Vector3 retVal;
 105                         const dReal *temp;
 106                         temp = dGeomGetPosition(this->_id);
 107                         retVal.x = temp[0];
 108                         retVal.y = temp[1];
 109                         retVal.z = temp[2];
 110                         return retVal;
 111                 }
 112
 113
 114                 //GetRotation (left handed system=>transpose)
 115                 Matrix3 Geom::GetRotation(void)
 116                 {
 117                         Matrix3 retVal;
 118                         const dReal *temp;
 119                         temp = dGeomGetRotation(this->_id);
 120                         retVal.m11 = temp[0];
 121                         retVal.m12 = temp[4];
 122                         retVal.m13 = temp[8];
 123                         retVal.m21 = temp[1];
 124                         retVal.m22 = temp[5];
 125                         retVal.m23 = temp[9];
 126                         retVal.m31 = temp[2];
 127                         retVal.m32 = temp[6];
 128                         retVal.m33 = temp[10];
 129                         return retVal;
 130                 }
 131
 132
 133                 //CreateSphere
 134                 void Geom::CreateSphere(Space &space, double radius)
 135                 {
 136                         if(this->_id) dGeomDestroy(this->_id);
 137                         _id = dCreateSphere(space.Id(), radius);
 138                 }
 139
 140
 141                 //CreateBox
 142                 void Geom::CreateBox(Space &space, double lx, double ly, double lz)
 143                 {
 144                         if(this->_id) dGeomDestroy(this->_id);
 145                         _id = dCreateBox(space.Id(), lx, ly, lz);
 146                 }
 147
 148
 149                 //CreatePlane
 150                 void Geom::CreatePlane(Space &space, double a, double b, double c, double d)
 151                 {
 152                         if(this->_id) dGeomDestroy(this->_id);
 153                         _id = dCreatePlane(space.Id(), a, b, c, d);
 154                 }
 155
 156
 157                 //CreateCCylinder
 158                 void Geom::CreateCCylinder(Space &space, double radius, double length)
 159                 {
 160                         if(this->_id) dGeomDestroy(this->_id);
 161                         _id = dCreateCCylinder(space.Id(), radius, length);
 162                 }
 163
 164
 165                 //SphereGetRadius
 166                 double Geom::SphereGetRadius(void)
 167                 {
 168                         return dGeomSphereGetRadius(this->_id);
 169                 }
 170
 171
 172                 //BoxGetLengths
 173                 Vector3 Geom::BoxGetLengths(void)
 174                 {
 175                         Vector3 retVal;
 176                         dVector3 temp;
 177                         dGeomBoxGetLengths(this->_id, temp);
 178                         retVal.x = temp[0];
 179                         retVal.y = temp[1];
 180                         retVal.z = temp[2];
 181                         return retVal;
 182                 }
 183
 184
 185                 //PlaneGetParams
 186                 Vector4 Geom::PlaneGetParams(void)
 187                 {
 188                         Vector4 retVal;
 189                         dVector4 temp;
 190                         dGeomPlaneGetParams(this->_id, temp);
 191                         retVal.W = temp[0];
 192                         retVal.x = temp[1];
 193                         retVal.y = temp[2];
 194                         retVal.z = temp[3];
 195                         return retVal;
 196                 }
 197
 198
 199                 //CCylinderGetParams
 200                 void Geom::CCylinderGetParams(double *radius, double *length)
 201                 {
 202                         dGeomCCylinderGetParams(this->_id, radius, length);
 203                 }
 204
 205
 206                 //GetClass
 207                 int Geom::GetClass(void)
 208                 {
 209                         return dGeomGetClass(this->_id);
 210                 }
 211
 212 }
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