source: code/branches/ode/ode-0.9/contrib/DotNetManaged/Geom.cpp @ 216

#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);
                }
                
}