//char *buffer has to be here.
char* ODE_Particle::getShortInfo()
{
dReal pos_x, pos_y, pos_z;
dReal vel_x, vel_y, vel_z;
const dReal *temp=getPosition();
pos_x=temp[0];
pos_y=temp[1];
pos_z=temp[2];
temp=getLinearVel();
vel_x=temp[0];
vel_y=temp[1];
vel_z=temp[2];
char *buffer=new char[256];
sprintf(buffer, "%e;%e;%f;%f;%f;%f;%f;%f;",getMass(),getRadius(),vel_x,vel_y,vel_z,pos_x,pos_y,pos_z);
return buffer;
}
void PhysicsBody::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
Inherited::changed(whichField, origin, details);
//Do not respond to changes that have a Sync origin
if(origin & ChangedOrigin::Sync)
{
return;
}
if(whichField & WorldFieldMask)
{
if(_BodyID != 0)
{
dBodyDestroy(_BodyID);
}
if(getWorld() != NULL)
{
_BodyID = dBodyCreate(getWorld()->getWorldID());
}
}
if( ((whichField & PositionFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetPosition(_BodyID, getPosition().x(),getPosition().y(),getPosition().z());
}
if( ((whichField & RotationFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dMatrix3 rotation;
Vec4f v1 = getRotation()[0];
Vec4f v2 = getRotation()[1];
Vec4f v3 = getRotation()[2];
rotation[0] = v1.x();
rotation[1] = v1.y();
rotation[2] = v1.z();
rotation[3] = 0;
rotation[4] = v2.x();
rotation[5] = v2.y();
rotation[6] = v2.z();
rotation[7] = 0;
rotation[8] = v3.x();
rotation[9] = v3.y();
rotation[10] = v3.z();
rotation[11] = 0;
dBodySetRotation(_BodyID, rotation);
}
if( ((whichField & QuaternionFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dQuaternion q;
q[0]=getQuaternion().w();
q[1]=getQuaternion().x();
q[2]=getQuaternion().y();
q[3]=getQuaternion().z();
dBodySetQuaternion(_BodyID,q);
}
if( ((whichField & LinearVelFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetLinearVel(_BodyID, getLinearVel().x(),getLinearVel().y(),getLinearVel().z());
}
if( ((whichField & AngularVelFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAngularVel(_BodyID, getAngularVel().x(),getAngularVel().y(),getAngularVel().z());
}
if( ((whichField & ForceFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetForce(_BodyID, getForce().x(),getForce().y(),getForce().z());
}
if( ((whichField & TorqueFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetTorque(_BodyID, getTorque().x(),getTorque().y(),getTorque().z());
}
if( ((whichField & AutoDisableFlagFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableFlag(_BodyID, getAutoDisableFlag());
}
if( ((whichField & AutoDisableLinearThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableLinearThreshold(_BodyID, getAutoDisableLinearThreshold());
}
if( ((whichField & AutoDisableAngularThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableAngularThreshold(_BodyID, getAutoDisableAngularThreshold());
}
if( ((whichField & AutoDisableStepsFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableSteps(_BodyID, getAutoDisableSteps());
}
if( ((whichField & AutoDisableTimeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableTime(_BodyID, getAutoDisableTime());
}
if( ((whichField & FiniteRotationModeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetFiniteRotationMode(_BodyID, getFiniteRotationMode());
}
if( ((whichField & FiniteRotationModeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetFiniteRotationMode(_BodyID, getFiniteRotationMode());
}
if( ((whichField & FiniteRotationAxisFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetFiniteRotationAxis(_BodyID, getFiniteRotationAxis().x(),getFiniteRotationAxis().y(),getFiniteRotationAxis().z());
}
if( ((whichField & GravityModeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetGravityMode(_BodyID, getGravityMode());
}
if( ((whichField & LinearDampingFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetLinearDamping(_BodyID, getLinearDamping());
}
if( ((whichField & AngularDampingFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAngularDamping(_BodyID, getAngularDamping());
}
if( ((whichField & LinearDampingThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetLinearDampingThreshold(_BodyID, getLinearDampingThreshold());
}
if( ((whichField & AngularDampingThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAngularDampingThreshold(_BodyID, getAngularDampingThreshold());
}
if( ((whichField & MaxAngularSpeedFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
if(getMaxAngularSpeed() >= 0.0)
{
dBodySetMaxAngularSpeed(_BodyID, getMaxAngularSpeed());
}
else
{
dBodySetMaxAngularSpeed(_BodyID, dInfinity);
}
}
if( ((whichField & MassFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dMass TheMass;
dBodyGetMass(_BodyID, &TheMass);
TheMass.mass = getMass();
dBodySetMass(_BodyID, &TheMass);
}
if( ((whichField & MassCenterOfGravityFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
//dMass TheMass;
//dBodyGetMass(_BodyID, &TheMass);
////TheMass.c[0] = getMassCenterOfGravity().x();
////TheMass.c[1] = getMassCenterOfGravity().y();
////TheMass.c[2] = getMassCenterOfGravity().z();
//Vec4f v1 = getMassInertiaTensor()[0];
//Vec4f v2 = getMassInertiaTensor()[1];
//Vec4f v3 = getMassInertiaTensor()[2];
//TheMass.I[0] = v1.x();
//TheMass.I[1] = v1.y();
//TheMass.I[2] = v1.z();
//TheMass.I[3] = getMassCenterOfGravity().x();
//TheMass.I[4] = v2.x();
//TheMass.I[5] = v2.y();
//TheMass.I[6] = v2.z();
//TheMass.I[7] = getMassCenterOfGravity().y();
//TheMass.I[8] = v3.x();
//TheMass.I[9] = v3.y();
//TheMass.I[10] = v3.z();
//TheMass.I[11] = getMassCenterOfGravity().z();
//dBodySetMass(_BodyID, &TheMass);
}
if( ((whichField & MassInertiaTensorFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dMass TheMass;
dBodyGetMass(_BodyID, &TheMass);
Vec4f v1 = getMassInertiaTensor()[0];
Vec4f v2 = getMassInertiaTensor()[1];
Vec4f v3 = getMassInertiaTensor()[2];
TheMass.I[0] = v1.x();
TheMass.I[1] = v1.y();
TheMass.I[2] = v1.z();
TheMass.I[3] = 0;
TheMass.I[4] = v2.x();
TheMass.I[5] = v2.y();
TheMass.I[6] = v2.z();
TheMass.I[7] = 0;
TheMass.I[8] = v3.x();
TheMass.I[9] = v3.y();
TheMass.I[10] = v3.z();
TheMass.I[11] = 0;
dBodySetMass(_BodyID, &TheMass);
}
if( ((whichField & KinematicFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
if(getKinematic())
{
dBodySetKinematic(_BodyID);
}
else
{
dBodySetDynamic(_BodyID);
}
}
}
