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
}
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;
}
