void CODEGeom::init()
{
dGeomID geom=create();
m_geom_transform=dCreateGeomTransform(0);
dGeomTransformSetCleanup(m_geom_transform,0);
dGeomSetData(m_geom_transform,0);
dGeomTransformSetGeom(m_geom_transform,geom);
dGeomTransformSetInfo(m_geom_transform,1);
dGeomCreateUserData(geom);
dGeomUserDataSetBoneId(geom,m_bone_id);
}
void Transform::init(const OdeHandle& odeHandle, double mass, const OsgHandle& osgHandle,
char mode) {
// Primitive::body is ignored (removed) from mode
assert(parent && parent->getBody() != 0 && child); // parent and child must exist
assert(child->getBody() == 0 && child->getGeom() == 0); // child should not be initialised
this->mode = mode | Primitive::_Transform;
if (!substanceManuallySet)
substance = odeHandle.substance;
QMP_CRITICAL(6);
// our own geom is just a transform
geom = dCreateGeomTransform(odeHandle.space);
dGeomTransformSetInfo(geom, 1);
dGeomTransformSetCleanup(geom, 0);
// the child geom must go into space 0 (because it inherits the space from the transform geom)
OdeHandle odeHandleChild(odeHandle);
odeHandleChild.space = 0;
// the root node for the child is the transform node of the parent
OsgHandle osgHandleChild(osgHandle);
osgHandleChild.parent = parent->getOSGPrimitive()->getTransform();
assert(osgHandleChild.scene);
// initialise the child
child->init(odeHandleChild, mass, osgHandleChild, (mode & ~Primitive::Body) | Primitive::_Child );
// move the child to the right place (in local coordinates)
child->setPose(pose);
// assoziate the child with the transform geom
dGeomTransformSetGeom (geom, child->getGeom());
// finally bind the transform the body of parent
dGeomSetBody (geom, parent->getBody());
dGeomSetData(geom, (void*)this); // set primitive as geom data
// we assign the body here. Since our mode is Transform it is not destroyed
body=parent->getBody();
QMP_END_CRITICAL(6);
}
