// This removes the pShape from its current collide space, but leaves everything intact.
void CShape::RemoveFromSpace()
{
n_assert(ODESpaceID);
n_assert(ODEGeomID);
dSpaceRemove(ODESpaceID, ODEGeomID);
ODESpaceID = NULL;
}
dxGeom::~dxGeom()
{
if (parent_space) dSpaceRemove (parent_space,this);
if ((gflags & GEOM_PLACEABLE) && (!body || (body && offset_posr)))
dFreePosr(final_posr);
if (offset_posr) dFreePosr(offset_posr);
bodyRemove();
}
void PhysicsObject::attachObject(boost::shared_ptr<PhysicsObject> po,
const v3& position,
const qv4& orientation)
{
po->mBodyOffset = position;
GeomMapT::const_iterator it = po->mGeometry.begin();
for (; it != po->mGeometry.end(); ++it)
{
// Calculate new relative position
dGeomID geom = it->second.geomId;
const dReal* offset = dGeomGetOffsetPosition(geom);
v3 newPos(offset);
newPos += position;
// Attach
dGeomSetBody(geom, mOdeBody);
dGeomSetOffsetPosition(geom, newPos.x, newPos.y, newPos.z);
dSpaceRemove(po->mSpaceId, geom);
dSpaceAdd(mSpaceId, geom);
}
// add the two masses
dMass otherMass;
dBodyGetMass(po->mOdeBody, &otherMass);
// dbglog << "OtherMass: " << otherMass.mass;
// dbglog << "OtherCenter: " << odeVectorOut(otherMass.c);
// dbglog << "OtherInertia: " << odeMatrixOut(otherMass.I);
dBodyGetMass(mOdeBody, &mOriginalMass);
// dbglog << "OwnMass: " << mOriginalMass.mass;
// dbglog << "OwnCenter: " << odeVectorOut(mOriginalMass.c);
// dbglog << "OwnInertia: " << odeMatrixOut(mOriginalMass.I);
dMassAdd(&mOriginalMass, &otherMass);
dMassTranslate(&mOriginalMass, -mOriginalMass.c[0], -mOriginalMass.c[1], -mOriginalMass.c[2]);
dBodySetMass(mOdeBody, &mOriginalMass);
// dbglog << "NewMass: " << mOriginalMass.mass;
// dbglog << "NewCenter: " << odeVectorOut(mOriginalMass.c);
// dbglog << "NewInertia: " << odeMatrixOut(mOriginalMass.I);
// Disable old body
dBodyDisable(po->mOdeBody);
notifyControlAboutChangeInMass();
}
void Obstacle::on_removeFromScene()
{
delete node_;
node_ = 0;
for (std::vector<dGeomID>::iterator gptr(geom_.begin()), gend(geom_.end());
gptr != gend; ++gptr)
{
dSpaceRemove(gStaticSpace, *gptr);
dGeomDestroy(*gptr);
}
for (std::vector<dTriMeshDataID>::iterator dptr(tmd_.begin()), dend(tmd_.end());
dptr != dend; ++dptr)
{
dGeomTriMeshDataDestroy(*dptr);
}
}
void ODESpace::setParentSpace(Space* parentSpace)
{
dSpaceID tempSpaceID =
((ODESpace*)parentSpace)->internal_getSpaceID();
// First remove this Space from its current parent Space, if one
// exists.
if (NULL != mParentSpaceID)
{
dSpaceRemove(mParentSpaceID, (dGeomID)mSpaceID);
}
// Now add this Space into the new Space.
dSpaceAdd(tempSpaceID, (dGeomID)mSpaceID);
mParentSpaceID = tempSpaceID;
}
dxGeom::~dxGeom()
{
if (parent_space) dSpaceRemove (parent_space,this);
if ((gflags & GEOM_PLACEABLE) && !body) dFree (pos,sizeof(dxPosR));
bodyRemove();
}
void CODEGeom::remove_from_space(dSpaceID space)
{
if(m_geom_transform) dSpaceRemove(space,m_geom_transform);
}
void PhysicsSpace::RemoveSpace( dSpaceID s)
{
dSpaceRemove(_SpaceID, (dGeomID)s);
}
void PhysicsSpace::RemoveGeom( dGeomID g)
{
dSpaceRemove(_SpaceID, g);
}
void wrl::atom::dead(dSpaceID space) const
{
dSpaceRemove(space, edit_geom);
}
void PhysicsGeom::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 & BodyFieldMask)
{
if(getBody() != NULL)
{
dGeomSetBody(_GeomID, getBody()->getBodyID());
}
else
{
dGeomSetBody(_GeomID, 0);
}
}
if(whichField & PositionFieldMask)
{
dGeomSetPosition(_GeomID, getPosition().x(),getPosition().y(),getPosition().z());
}
if(whichField & RotationFieldMask)
{
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;
dGeomSetRotation(_GeomID, rotation);
}
if(whichField & QuaternionFieldMask)
{
dQuaternion q;
q[0]=getQuaternion().w();
q[1]=getQuaternion().x();
q[2]=getQuaternion().y();
q[3]=getQuaternion().z();
dGeomSetQuaternion(_GeomID,q);
}
if(whichField & OffsetPositionFieldMask &&
getBody() != NULL)
{
dGeomSetOffsetPosition(_GeomID, getOffsetPosition().x(),getOffsetPosition().y(),getOffsetPosition().z());
}
if(whichField & OffsetRotationFieldMask &&
getBody() != NULL)
{
dMatrix3 rotation;
Vec4f v1 = getOffsetRotation()[0];
Vec4f v2 = getOffsetRotation()[1];
Vec4f v3 = getOffsetRotation()[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;
dGeomSetOffsetRotation(_GeomID, rotation);
}
if(whichField & OffsetQuaternionFieldMask && getBody() != NULL)
{
dQuaternion q;
q[0]=getOffsetQuaternion().w();
q[1]=getOffsetQuaternion().x();
q[2]=getOffsetQuaternion().y();
q[3]=getOffsetQuaternion().z();
dGeomSetOffsetQuaternion(_GeomID,q);
}
if(whichField & CategoryBitsFieldMask)
{
dGeomSetCategoryBits(_GeomID, getCategoryBits());
}
if(whichField & CollideBitsFieldMask)
{
dGeomSetCollideBits(_GeomID, getCollideBits());
}
if(whichField & SpaceFieldMask)
{
dSpaceID CurSpace(dGeomGetSpace(_GeomID));
if(CurSpace != 0 &&
(getSpace() == NULL ||
CurSpace != getSpace()->getSpaceID()))
{
dSpaceRemove(CurSpace,_GeomID);
}
if(getSpace() != NULL)
{
dSpaceAdd(getSpace()->getSpaceID(), _GeomID);
}
}
if(whichField & EnableFieldMask)
{
if(getEnable())
{
dGeomEnable(_GeomID);
}
else
{
dGeomDisable(_GeomID);
}
}
}
