void Primitive::setPosition(const Pos& pos){
if(body){
dBodySetPosition(body, pos.x(), pos.y(), pos.z());
}else if(geom){ // okay there is just a geom no body
dGeomSetPosition(geom, pos.x(), pos.y(), pos.z());
}
update(); // update the scenegraph stuff
}
void printCornerPointsXY(Box* box, FILE* f){
OSGBox* obox = (OSGBox*)box->getOSGPrimitive();
std::list<Pos> ps;
Pos dim = obox->getDim();
ps.push_back(Pos(dim.x()* 0.5, dim.y()* 0.5,0));
ps.push_back(Pos(dim.x()* 0.5, dim.y()* -0.5,0));
ps.push_back(Pos(dim.x()* -0.5, dim.y()* -0.5,0));
ps.push_back(Pos(dim.x()* -0.5, dim.y()* 0.5,0));
// for(int i=0; i<8; i++){
// ps.push_back(Pos(dim.x()*( (i&4) ? 0.5: -0.5),dim.y()*( (i&2) ? 0.5: -0.5),dim.z()*( (i&1) ? 0.5: -0.5)));
// }
// transform them into global coords
FOREACH(std::list<Pos>, ps, p){
*p = (*p) * box->getPose();
}
bool Primitive::restore(FILE* f){
Pose pose;
Pos vel;
Pos avel;
if ( fread ( pose.ptr() , sizeof ( Pose::value_type), 16, f ) == 16 )
if( fread ( vel.ptr() , sizeof ( Pos::value_type), 3, f ) == 3 )
if( fread ( avel.ptr() , sizeof ( Pos::value_type), 3, f ) == 3 ){
setPose(pose);
if(body){
dBodySetLinearVel(body,vel.x(),vel.y(),vel.z());
dBodySetAngularVel(body,avel.x(),avel.y(),avel.z());
}
return true;
}
fprintf ( stderr, "Primitve::restore: cannot read primitive from data\n" );
return false;
}
bool GameStream::Move(const Pos& pos) {
return stream_.SendMsgWithCheck("MOVE " + to_string(pos.x()) + " " +
to_string(pos.y()));
}
