source: code/branches/physics/src/ogreode/OgreOdeBody.cpp @ 1919

#include "OgreOdePrecompiledHeaders.h"

#include "OgreOdeWorld.h"
#include "OgreOdeBody.h"
#include "OgreOdeMass.h"
#include "OgreOdeDebugObject.h"
#include "OgreOdeGeometry.h"

using namespace OgreOde;
using namespace Ogre;


//-----------------------------------------------------------------------
BodyState::BodyState(const Ogre::Vector3        &position,
                     const Ogre::Quaternion &orientation)
{
    _position = position;
    _orientation = orientation; 
}
//-----------------------------------------------------------------------
void BodyState::operator=(const BodyState &other)
{
    _position = other._position;
    _orientation = other._orientation;
}
//-----------------------------------------------------------------------
bool BodyState::operator==(const BodyState &other) const
{
    return _position == other._position && 
        _orientation == other._orientation;                     
}
//-----------------------------------------------------------------------
bool BodyState::operator!=(const BodyState &other) const
{
    return _position != other._position || 
        _orientation != other._orientation;
} 
//-----------------------------------------------------------------------
/// compare with another physics state for "significant" differences.
/// used for detecting position or orientation snaps which need smoothing.
bool BodyState::isDifferent(const BodyState &other, const Ogre::Real threshold) const
{
    return (other._position-_position).squaredLength() > threshold || 
        (other._orientation-_orientation).normalise() > threshold;
}

//-----------------------------------------------------------------------
void BodyState::interpolate(const BodyState * const _previous_state, 
                                   const BodyState * const _current_state, 
                                   const Ogre::Real alpha)
{
    const Ogre::Real timeDiffuseless = Ogre::Real(0.0001);
    if (alpha - timeDiffuseless < 0) // alpha <= 0
    {   
        _position = _current_state->_position;
        _orientation = _current_state->_orientation;                    
    }
    else if (alpha - 1 - timeDiffuseless > 0) // alpha >= 1
    {   
        _position = _previous_state->_position;
        _orientation = _previous_state->_orientation;   
    }
    else
#if _DEBUG 
    if (_previous_state->isDifferent(*_current_state, Ogre::Real(0.01)))
    {        
        _position = _current_state->_position*alpha + _previous_state->_position * (1.0f - alpha);
        _orientation = Ogre::Quaternion::Slerp(alpha, _previous_state->_orientation, _current_state->_orientation, true); //shortest path ?                             
    }
    else
    {
        _position = _previous_state->_position;
        _orientation = _previous_state->_orientation;
    }
#else
    {
        _position = _current_state->_position*alpha + _previous_state->_position * (1.0f - alpha);
        _orientation = Ogre::Quaternion::Slerp(alpha, _previous_state->_orientation, _current_state->_orientation, true); //shortest path ?                             
    }
#endif
}

//-----------------------------------------------------------------------
int Body::_body_count = 0;
//-----------------------------------------------------------------------
const Ogre::String Body::MovableType = "OgreOde::Body";
//-----------------------------------------------------------------------
Body::Body(World *world, const Ogre::String& name):
    MovableObject(),
    //UserDefinedObject(),
    _name(name), 
    _world(world),
        _modify_parent_orientation(true)
{ 
        _body_count++;
        _body = dBodyCreate(_world->getWorldID()); 
        
        _debug_node = 0;
        _mass = new Mass(); 

        dBodySetData(_body,(void*)this);
        _world->getBodyList().registerItem(this);

        if (_name.empty())
                _name = MovableType + Ogre::StringConverter::toString(_body_count);

        setDamping (_world->_linear_damping, 
                                _world->_angular_damping);
        _user_data = 0;
        
        _isEnabled = true;
    _historyResize(_world->getHistorySize());
    // Tie the physical body to the movable
    // used when getting physical out of Movables. 
    this->setUserObject (this);

}
//-----------------------------------------------------------------------
void Body::_historyResize(const size_t size)
{
        _state_history.resize (size);
        for (size_t i = 0; i < size; i++)
        {
                _state_history.add(new BodyState (_draw_state));
        }
}
//-----------------------------------------------------------------------
void Body::_notifyAttached(Node* parent,bool isTagPoint)
{
    MovableObject::_notifyAttached(parent,isTagPoint);
    if (parent)
    {
        Body* other_body = _world->findBody(static_cast<SceneNode*>(parent));
        if ((other_body) && (other_body != this))
        {
            static_cast<SceneNode*>(parent)->detachObject(other_body);

        }

        setPosition(parent->getPosition());
        setOrientation(parent->getOrientation());
    } 
}
//-----------------------------------------------------------------------
void Body::destroyDebugNode()
{
        if (_debug_node)
        {
                _world->notifyGeometry(this);

        SceneNode* sn = static_cast<SceneNode*>(_debug_node);
        sn->removeAndDestroyAllChildren ();
        sn = static_cast<SceneNode*>(_debug_node->getParent());
        sn->removeAndDestroyChild(_debug_node->getName());
                _debug_node = 0;
        }
}

//-----------------------------------------------------------------------
void Body::addDebugNode(Node* node)
{
        if (!_debug_node)
        {
                _debug_node = _world->_manager->getRootSceneNode()->createChild(_name + Ogre::String("_DebugBody"));
        }
   
    _debug_node->addChild(node);
   
}

//-----------------------------------------------------------------------
void Body::setModifyParentOrientation(bool bModify)
{
        _modify_parent_orientation = bModify;
} 
//-----------------------------------------------------------------------
void Body::setPosition(const Ogre::Vector3& position)
{
        dBodySetPosition(_body,(dReal)position.x,(dReal)position.y,(dReal)position.z); 

        _draw_state._position = position;
        for (size_t i = 0; i < _state_history.size (); i++)
        {
                _state_history[i]->_position = position;
        }

        if (mParentNode) 
        mParentNode->setPosition(position);
}

//-----------------------------------------------------------------------
void Body::setOrientation(const Ogre::Quaternion& orientation)
{
        dQuaternion q; 
        q[0] = (dReal)orientation.w;
        q[1] = (dReal)orientation.x;
        q[2] = (dReal)orientation.y;
        q[3] = (dReal)orientation.z;
        dBodySetQuaternion(_body,q); 

        _draw_state._orientation = orientation;
        for (size_t i = 0; i < _state_history.size (); i++)
        {
                _state_history[i]->_orientation = orientation;
        }

        if (mParentNode && _modify_parent_orientation) 
        mParentNode->setOrientation(orientation);
}

//-----------------------------------------------------------------------
void Body::setLinearVelocity(const Ogre::Vector3& linear_velocity)
{
        dBodySetLinearVel(_body,(dReal)linear_velocity.x,(dReal)linear_velocity.y,(dReal)linear_velocity.z); 
}

//-----------------------------------------------------------------------
void Body::setAngularVelocity(const Ogre::Vector3& angular_velocity)
{
        dBodySetAngularVel(_body,(dReal)angular_velocity.x,(dReal)angular_velocity.y,(dReal)angular_velocity.z); 
}


//-----------------------------------------------------------------------
const Ogre::Vector3& Body::getLinearVelocity()
{
        const dReal* linear_velocity = dBodyGetLinearVel(_body); 
        _linear_vel.x = (Real)linear_velocity[0];
        _linear_vel.y = (Real)linear_velocity[1];
        _linear_vel.z = (Real)linear_velocity[2];

        return _linear_vel;
}

//-----------------------------------------------------------------------
const Ogre::Vector3& Body::getAngularVelocity()
{
        const dReal* angular_velocity = dBodyGetAngularVel(_body); 
        _angular_vel.x = (Real)angular_velocity[0];
        _angular_vel.y = (Real)angular_velocity[1];
        _angular_vel.z = (Real)angular_velocity[2];

        return _angular_vel;
}

//-----------------------------------------------------------------------
const Ogre::String& Body::getMovableType() const
{
        return MovableType;
}

//-----------------------------------------------------------------------
void Body::_notifyCurrentCamera(Camera* camera)
{
}

//-----------------------------------------------------------------------
const AxisAlignedBox& Body::getBoundingBox(void) const
{
        return _bounding_box;
}

//-----------------------------------------------------------------------
Real Body::getBoundingRadius(void) const
{
        return Ogre::Real(0.0);
}
//-----------------------------------------------------------------------
void Body::_updateRenderQueue(RenderQueue* queue)
{
}
//-----------------------------------------------------------------------
void Body::setMass(const Mass& mass)
{
        dBodySetMass(_body,mass.getMassPtr());
}

//-----------------------------------------------------------------------
const Mass& Body::getMass()
{
        dMass mass;
        dBodyGetMass(_body,&mass); 
        *_mass = &mass;
        return *_mass;
}

//-----------------------------------------------------------------------
void Body::addForce(const Ogre::Vector3& force)
{
        dBodyAddForce(_body,(dReal)force.x,(dReal)force.y,(dReal)force.z);
}

//-----------------------------------------------------------------------
void Body::addTorque(const Ogre::Vector3& torque)
{
        dBodyAddTorque(_body,(dReal)torque.x,(dReal)torque.y,(dReal)torque.z);
}

//-----------------------------------------------------------------------
void Body::addRelativeForce(const Ogre::Vector3& force)
{
        dBodyAddRelForce(_body,(dReal)force.x,(dReal)force.y,(dReal)force.z);
}

//-----------------------------------------------------------------------
void Body::addRelativeTorque(const Ogre::Vector3& torque)
{
        dBodyAddRelTorque(_body,(dReal)torque.x,(dReal)torque.y,(dReal)torque.z);
}

//-----------------------------------------------------------------------
void Body::addForceAt(const Ogre::Vector3& force,const Ogre::Vector3& position)
{
        dBodyAddForceAtPos(_body,(dReal)force.x,(dReal)force.y,(dReal)force.z,(dReal)position.x,(dReal)position.y,(dReal)position.z); 
}

//-----------------------------------------------------------------------
void Body::addForceAtRelative(const Ogre::Vector3& force,const Ogre::Vector3& position)
{
        dBodyAddForceAtRelPos(_body,(dReal)force.x,(dReal)force.y,(dReal)force.z,(dReal)position.x,(dReal)position.y,(dReal)position.z);
}
//-----------------------------------------------------------------------
void Body::addRelativeForceAt(const Ogre::Vector3& force,const Ogre::Vector3& position)
{
    dBodyAddRelForceAtPos(_body,(dReal)force.x,(dReal)force.y,(dReal)force.z,(dReal)position.x,(dReal)position.y,(dReal)position.z); 
}
//-----------------------------------------------------------------------
void Body::addRelativeForceAtRelative(const Ogre::Vector3& force,const Ogre::Vector3& position)
{
        dBodyAddRelForceAtRelPos(_body,(dReal)force.x,(dReal)force.y,(dReal)force.z,(dReal)position.x,(dReal)position.y,(dReal)position.z); 
}
//-----------------------------------------------------------------------
const Ogre::Vector3& Body::getForce()
{
        const dReal* force = dBodyGetForce(_body); 
        _force.x = force[0];
        _force.y = force[1];
        _force.z = force[2];

        return _force;
}
//-----------------------------------------------------------------------
const Ogre::Vector3& Body::getTorque()
{
        const dReal* torque = dBodyGetTorque(_body); 
        _torque.x = torque[0];
        _torque.y = torque[1];
        _torque.z = torque[2];

        return _torque;
}
//-----------------------------------------------------------------------
void Body::setForce(const Ogre::Vector3& force)
{
    dBodySetForce(_body, (dReal) force.x, (dReal)force.y, (dReal)force.z);
}
//-----------------------------------------------------------------------
void Body::setTorque(const Ogre::Vector3& torque)
{
    dBodySetTorque(_body, (dReal) torque.x, (dReal)torque.y, (dReal)torque.z);
}
//-----------------------------------------------------------------------
/*
Given a point on a body, get that point's position in the world
*/
Vector3 Body::getPointWorldPosition(const Ogre::Vector3& position)
{
        dVector3 result;
        dBodyGetRelPointPos(_body,(dReal)position.x,(dReal)position.y,(dReal)position.z,result);

        return Ogre::Vector3(result[0],result[1],result[2]);
}
//-----------------------------------------------------------------------
/*
Given a point on a body, get that point's velocity in the world
*/
Vector3 Body::getPointWorldVelocity(const Ogre::Vector3& position)
{
        dVector3 result;
        dBodyGetRelPointVel(_body,(dReal)position.x,(dReal)position.y,(dReal)position.z,result);

        return Ogre::Vector3(result[0],result[1],result[2]);
}
//-----------------------------------------------------------------------
/*
Given a point (in the world), get that point's velocity in the world with respect to the body
i.e. convert the global point to a relative point on the body and compute the velocity of that
point on the body
*/
Vector3 Body::getPointVelocity(const Ogre::Vector3& position)
{
        dVector3 result;
        dBodyGetPointVel(_body,(dReal)position.x,(dReal)position.y,(dReal)position.z,result); 

        return Ogre::Vector3(result[0],result[1],result[2]);
}
//-----------------------------------------------------------------------
Vector3 Body::getPointBodyPosition(const Ogre::Vector3& position)
{
        dVector3 result;
        dBodyGetPosRelPoint(_body,(dReal)position.x,(dReal)position.y,(dReal)position.z,result); 

        return Ogre::Vector3(result[0],result[1],result[2]);
}
//-----------------------------------------------------------------------
Vector3 Body::getVectorToWorld(const Ogre::Vector3& vector)
{
        dVector3 result;
        dBodyVectorToWorld(_body,(dReal)vector.x,(dReal)vector.y,(dReal)vector.z,result);

        return Ogre::Vector3(result[0],result[1],result[2]);
}
//-----------------------------------------------------------------------
Vector3 Body::getVectorFromWorld(const Ogre::Vector3& vector)
{
        dVector3 result;
        dBodyVectorFromWorld(_body,(dReal)vector.x,(dReal)vector.y,(dReal)vector.z,result); 

        return Ogre::Vector3(result[0],result[1],result[2]);
}
//-----------------------------------------------------------------------
void Body::wake()
{
        dBodyEnable(_body); 
        _isEnabled = true;
}
//-----------------------------------------------------------------------
void Body::sleep()
{
        dBodyDisable(_body); 
        _isEnabled = false;
}
//-----------------------------------------------------------------------
void Body::setAutoSleep(bool auto_disable)
{
        dBodySetAutoDisableFlag(_body,((auto_disable)?1:0)); 
}
//-----------------------------------------------------------------------
bool Body::getAutoSleep()
{
        return ((dBodyGetAutoDisableFlag(_body))?true:false); 
}
//-----------------------------------------------------------------------
void Body::setAutoSleepLinearThreshold(Real linear_threshold)
{
        dBodySetAutoDisableLinearThreshold(_body,(dReal)linear_threshold); 
}
//-----------------------------------------------------------------------
Real Body::getAutoSleepLinearThreshold()
{
        return (Real)dBodyGetAutoDisableLinearThreshold(_body); 
}
//-----------------------------------------------------------------------
void Body::setAutoSleepAngularThreshold(Real angular_threshold)
{
        dBodySetAutoDisableAngularThreshold(_body,(dReal)angular_threshold); 
}
//-----------------------------------------------------------------------
Real Body::getAutoSleepAngularThreshold()
{
        return (Real)dBodyGetAutoDisableAngularThreshold(_body); 
}
//-----------------------------------------------------------------------
void Body::setAutoSleepSteps(int steps)
{
        dBodySetAutoDisableSteps(_body,steps); 
}
//-----------------------------------------------------------------------
int Body::getAutoSleepSteps()
{
        return dBodyGetAutoDisableSteps(_body); 
}
//-----------------------------------------------------------------------
void Body::setAutoSleepTime(Real time)
{
        dBodySetAutoDisableTime(_body,(dReal)time); 
}
//-----------------------------------------------------------------------
Real Body::getAutoSleepTime()
{
        return (Real)dBodyGetAutoDisableTime(_body); 
}
//-----------------------------------------------------------------------
void Body::setAutoSleepDefaults()
{
        dBodySetAutoDisableDefaults(_body);
}
//-----------------------------------------------------------------------
void Body::setFiniteRotationMode(bool on)
{
        dBodySetFiniteRotationMode(_body,((on)?1:0)); 
}
//-----------------------------------------------------------------------
bool Body::getFiniteRotationMode()
{
        return ((dBodyGetFiniteRotationMode(_body))?true:false); 
}
//-----------------------------------------------------------------------
void Body::setFiniteRotationAxis(const Ogre::Vector3& axis)
{
        dBodySetFiniteRotationAxis(_body,(dReal)axis.x,(dReal)axis.y,(dReal)axis.z); 
}
//-----------------------------------------------------------------------
const Ogre::Vector3& Body::getFiniteRotationAxis()
{
        dVector3 result;
        dBodyGetFiniteRotationAxis(_body,result); 
        _finite_axis.x = result[0];
        _finite_axis.y = result[1];
        _finite_axis.z = result[2];

        return _finite_axis;
}
//-----------------------------------------------------------------------
int Body::getJointCount()
{
        return dBodyGetNumJoints(_body); 
}
//-----------------------------------------------------------------------
Joint* Body::getJoint(int index)
{
        return (Joint*)_world->getJointList().findItem((size_t)dBodyGetJoint(_body,index)); 
}
//-----------------------------------------------------------------------
size_t Body::getGeometryCount()
{
    return _geometries.size();
//      int rc = 0;
//      Geometry* g= 0;
//      MaintainedItemIterator<Geometry> it = _world->_geometry_list.getIterator();
//      while(!it.end ())
//      {
//              g = (Geometry*) (it.getNext ());        
//              if (this == g->getBody()) 
//             ++rc;
//      }
// 
//      return rc;
}
//-----------------------------------------------------------------------
Geometry* Body::getGeometry(int index)
{
    return _geometries[index];

//      Geometry* rc = 0;
//      int idx = 0;
//      Geometry* g = 0;
//      MaintainedItemIterator<Geometry> it = _world->_geometry_list.getIterator();
//      while(!it.end ())
//      {
//              g = (Geometry*) (it.getNext ());        
//              if (this == g->getBody())
//              {
//                      rc = g;
//                      ++idx;
// 
//                      if (idx > index) 
//                              break;
//              }
//      }
// 
//      return rc;
}
GeometryArray* Body::getGeometries()
{
    return &_geometries;
}

//-----------------------------------------------------------------------
void Body::addGeometry(Geometry *g) 
{
    _geometries.push_back(g);
}
//-----------------------------------------------------------------------
void Body::removeGeometry(Geometry *g) 
{
    for (GeometryArray::iterator it = _geometries.begin ();
        it != _geometries.end ();
        ++it)
    {
        if (*it == g)
        {
            _geometries.erase (it);
            return;
        }
    }
}
//-----------------------------------------------------------------------
void Body::setAffectedByGravity(bool on)
{
        dBodySetGravityMode(_body,((on)?1:0)); 
}
//-----------------------------------------------------------------------
bool Body::getAffectedByGravity()
{
        return ((dBodyGetGravityMode(_body))?true:false); 
}
//-----------------------------------------------------------------------
dBodyID Body::getBodyID() const
{
        return _body;
}
//-----------------------------------------------------------------------
const Ogre::String& Body::getName(void) const
{
        return _name;
}

//-----------------------------------------------------------------------
void Body::deriveLocation()
{
        if (mParentNode)
        {
                setPosition(mParentNode->getPosition());
                setOrientation(mParentNode->getOrientation());
        }
}

//-----------------------------------------------------------------------
void Body::recursiveSetMode(SceneNode* node)
{
        for(unsigned short i = 0;i < node->numChildren();i++)
        {
                recursiveSetMode(static_cast<SceneNode*>(node->getChild(i)));           
        }

        if (_debug_node)
        {
                for(unsigned short j = 0;j < node->numAttachedObjects();j++)
                {
                        static_cast<DebugObject*>(node->getAttachedObject(j))->setMode(
                                (dBodyIsEnabled(_body))?
                                DebugObject::Mode_Enabled
                                :
                                DebugObject::Mode_Disabled);
                }
        }
}
//-----------------------------------------------------------------------
void Body::setDamping(Real linear_damping,Real angular_damping)
{
        _linear_damping = -(dReal)linear_damping;
        _is_linear_damped = (_linear_damping < 0.0);
        _angular_damping = -(dReal)angular_damping;
        _is_angular_damped = (_angular_damping < 0.0);

        _is_damped = _linear_damping || _is_angular_damped;
}
//-----------------------------------------------------------------------
void Body::setLinearDamping(Real linear_damping)
{
        _linear_damping = -(dReal)linear_damping;
        _is_linear_damped = (_linear_damping < 0.0);

        _is_damped = _linear_damping || _is_angular_damped;
}
//-----------------------------------------------------------------------
void Body::setAngularDamping(Real angular_damping)
{
        _angular_damping = -(dReal)angular_damping;
        _is_angular_damped = (_angular_damping < 0.0);

        _is_damped = _linear_damping || _is_angular_damped;
}
//-----------------------------------------------------------------------
Real Body::getLinearDamping()
{
        return -(Real)_linear_damping;
}
//-----------------------------------------------------------------------
Real Body::getAngularDamping()
{
        return -(Real)_angular_damping;
}
//-----------------------------------------------------------------------
void Body::applyDamping()
{
        assert (_isEnabled && _is_damped);
        
        if (_linear_damping)
        {
                const dReal * const v = dBodyGetLinearVel(_body);
                dBodyAddForce(_body, v[0] * _linear_damping, v[1] * _linear_damping, v[2] * _linear_damping);
        }

        if (_is_angular_damped)
        {
                const dReal * const v = dBodyGetAngularVel(_body);
                dBodyAddTorque(_body, v[0] * _angular_damping, v[1] * _angular_damping, v[2] * _angular_damping);
        }       
}
//-----------------------------------------------------------------------
void Body::setDebug(const bool debug)
{
        destroyDebugNode();
}
//-----------------------------------------------------------------------
void Body::setUserData(size_t user_data)
{
        _user_data = user_data;
}
//-----------------------------------------------------------------------
size_t Body::getUserData()
{
        return _user_data;
}
//-----------------------------------------------------------------------
size_t Body::getID()
{
        return (size_t)_body;
}
//-----------------------------------------------------------------------
Body::~Body()
{
        destroyDebugNode();
        delete _mass;

        _world->getBodyList().unregisterItem((size_t)_body);
        dBodyDestroy(_body);
}

//-----------------------------------------------------------------------
bool Body::collide(void* data, Geometry *otherGeometry)
{
    bool collided = false;
    dContactGeom contactGeom;
    Geometry *o1;
    GeometryArray::const_iterator proxy1, proxy1end;
    proxy1end = _geometries.end();

    //dContact contact;
    //Real bounce, velThresh, softness;

    //CollisionInfo collInfo;

    // @@TODO : HAS TO HANDLE TransFormedGeometry and GoemtryOffset
    for (proxy1 = _geometries.begin(); proxy1 != proxy1end; ++proxy1)
    {
        o1 = *proxy1;
        const int numc = dCollide(o1->getGeometryID(), otherGeometry->getGeometryID(), 0, &contactGeom, sizeof(dContactGeom));
        if (numc)
        {
            // Create contact joints if either object is dynamics simulated
            // If one is not, then sim will not affect it anyway, it will be fixed
            // However if one is enabled, we need the contact joint
            if (this->isAwake())
            {
                  _world->collisionCallback(data, o1->getGeometryID(), otherGeometry->getGeometryID());
            }

            // set return 
            collided = true;
            
        }
    }
    return collided;
}
//-----------------------------------------------------------------------
bool Body::collide(void* data, Body *otherBody)
{
    bool collided = false;
    dContactGeom contactGeom;
    Geometry *o1, *o2;
    GeometryArray::const_iterator proxy1, proxy2, proxy1end, proxy2end;
    proxy1end = _geometries.end();
    proxy2end = otherBody->getGeometries()->end();

    //dContact contact;
    //Real bounce, velThresh, softness;

    //CollisionInfo collInfo;

    // @@TODO : HAS TO HANDLE TransFormedGeometry and GoemtryOffset
    for (proxy1 = _geometries.begin(); proxy1 != proxy1end; ++proxy1)
    {
        for (proxy2 = otherBody->getGeometries()->begin(); proxy2 != proxy2end; ++proxy2)
        {
            o1 = *proxy1;
            o2 = *proxy2;
            const int numc = dCollide(o1->getGeometryID(), o2->getGeometryID(), 0, &contactGeom, sizeof(dContactGeom));
            if (numc)
            {
                // Create contact joints if either object is dynamics simulated
                // If one is not, then sim will not affect it anyway, it will be fixed
                // However if one is enabled, we need the contact joint
                if (this->isAwake() || otherBody->isAwake())
                {

                    _world->collisionCallback(data, o1->getGeometryID(), o2->getGeometryID());

                }
                // set return 
                collided = true;
            }
        }
    }
    return collided;
}
//-------------------------------------------------------------------------
bool Body::collidePlaneBounds(void* data, Ogre::SceneQuery::WorldFragment *wf)
{
    bool collided = false;
    dContactGeom contactGeom;
    Geometry *geom;
    GeometryArray::const_iterator proxy, proxyend;
    proxyend = _geometries.end();

    std::list<Ogre::Plane>::const_iterator pi, piend;
    piend = wf->planes->end();

    //CollisionInfo collInfo;

    // @@TODO : HAS TO HANDLE TransFormedGeometry and GoemtryOffset
    for (proxy = _geometries.begin(); proxy != proxyend; ++proxy)
    {
        // Hack, simply collide against planes which is facing towards center
        // We can't do this properly without mesh collision
        geom = *proxy;
        Ogre::Real maxdist = -1.0f;
        const Ogre::Plane* bestPlane = 0;
        for (pi = wf->planes->begin(); pi != piend; ++pi)
        {
            const Ogre::Plane * const boundPlane = &(*pi);
            const Ogre::Real dist = boundPlane->getDistance (this->getPosition());
            if (dist >= 0.0f)
            {

                //@@@@ TODO reuse a static InfinitePlaneGeometry ?
                InfinitePlaneGeometry *sliding_plane = new InfinitePlaneGeometry(*boundPlane, 0);


                int numc = dCollide(geom->getGeometryID(), 
                                    sliding_plane->getGeometryID(), 
                                    0, 
                                    &contactGeom, 
                                    sizeof(dContactGeom));
                if (numc)
                {
                    // Create contact joints if object is dynamics simulated
                    if (this->isAwake())
                    {
                        _world->collisionCallback(data, geom->getGeometryID(), sliding_plane->getGeometryID());

                    }
                    // set return 
                    collided = true;
                }
            }
        } 

    }
    return collided;
}