D:/CHAI3D/build-2-0-0/2.0.0/win32/modules/ODE/CODEGenericBody.h

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//===========================================================================
/*
    This file is part of the CHAI 3D visualization and haptics libraries.
    Copyright (C) 2003-2009 by CHAI 3D. All rights reserved.

    This library is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License("GPL") version 2
    as published by the Free Software Foundation.

    For using the CHAI 3D libraries with software that can not be combined
    with the GNU GPL, and for taking advantage of the additional benefits
    of our support services, please contact CHAI 3D about acquiring a
    Professional Edition License.

    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \version   2.0.0 $Rev: 251 $
*/
//===========================================================================

//---------------------------------------------------------------------------
#ifndef CODEGenericBodyH
#define CODEGenericBodyH
//---------------------------------------------------------------------------
#include "ode/ode.h"
#include "chai3d.h"
//---------------------------------------------------------------------------

//===========================================================================
//===========================================================================

//---------------------------------------------------------------------------
class cODEWorld;
//---------------------------------------------------------------------------
enum cODEDynamicModelType
{
    ODE_MODEL_BOX,
    ODE_MODEL_SPHERE,
    ODE_MODEL_CYLINDER,
    ODE_MODEL_PLANE,
    ODE_MODEL_TRIMESH
};
//---------------------------------------------------------------------------

//===========================================================================
//===========================================================================
class cODEGenericBody : public cGenericObject
{

  public:

    //-----------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //-----------------------------------------------------------------------

                cODEGenericBody(cODEWorld* a_world) { initialize(a_world); }

    virtual ~cODEGenericBody() {};


        //-----------------------------------------------------------------------
    // METHODS:
    //-----------------------------------------------------------------------

    void setPosition(cVector3d &a_position);

    void setRotation(cMatrix3d &a_rotation);

    void updateBodyPosition(void);

    void addGlobalForceAtGlobalPos(cVector3d& a_force, cVector3d& a_pos);

    void setMass(double a_mass);

    double getMass() { return (m_mass); }

    void setImageModel(cGenericObject* a_imageModel);

    cGenericObject* getImageModel() { return (m_imageModel); }

    void enableDynamics();

    void disableDynamics();

    bool isStatic() { return (m_static); } 

        virtual void buildDynamicModel() {};

    void createDynamicBoundingBox(bool a_staticObject = false);

        void createDynamicSphere(const double a_radius, 
                                                         bool a_staticObject = false,
                             const cVector3d& a_offsetPos = cVector3d(0.0, 0.0, 0.0),
                             const cMatrix3d& a_offsetRot = cIdentity3d());

        void createDynamicBox(const double a_lengthX, const double a_lengthY, const double a_lengthZ,
                          bool a_staticObject = false,
                                                  const cVector3d& a_offsetPos = cVector3d(0.0, 0.0, 0.0),
                          const cMatrix3d& a_offsetRot = cIdentity3d());

        void createDynamicCapsule(const double a_radius, const double a_length,
                              bool a_staticObject = false,
                                                      const cVector3d& a_offsetPos = cVector3d(0.0, 0.0, 0.0),
                              const cMatrix3d& a_offsetRot = cIdentity3d());

        void createStaticPlane(const cVector3d& a_position,
                           const cVector3d& a_normal);

        void createDynamicMesh(bool a_staticObject = false,
                           const cVector3d& a_offsetPos = cVector3d(0.0, 0.0, 0.0),
                           const cMatrix3d& a_offsetRot = cIdentity3d());

    void updateGlobalPositions(const bool a_frameOnly);

    void render(const int a_renderMode);

    void setShowDynamicCollisionModel(const bool a_show) { m_showDynamicCollisionModel = a_show; }

    bool getShowDynamicCollisionModel() { return(m_showDynamicCollisionModel); }

    cODEWorld* m_ODEWorld;

    cGenericObject* m_imageModel;


  private:

        //-----------------------------------------------------------------------
    // MEMBERS:
    //-----------------------------------------------------------------------

    bool m_static;

    dBodyID m_ode_body;

    dMass m_ode_mass;

    double m_mass;

    dGeomID m_ode_geom;

    float* m_vertices;

    int* m_vertexIndices;

    double m_prevTransform[16];

    dTriMeshDataID m_ode_triMeshDataID;

    bool m_showDynamicCollisionModel;

    cColorf m_colorDynamicCollisionModel;

    cODEDynamicModelType m_typeDynamicCollisionModel;

    double m_paramDynColModel0;
    double m_paramDynColModel1;
    double m_paramDynColModel2;
    cVector3d m_posOffsetDynColModel;
    cMatrix3d m_rotOffsetDynColModel;

    int buildMeshTable(cMesh* a_mesh, int& a_indexOffset, int& a_verticesCount, int& a_indexCount);

    void initialize(cODEWorld* a_world);

    virtual bool computeOtherCollisionDetection(cVector3d& a_segmentPointA,
                                                cVector3d& a_segmentPointB,
                                                cCollisionRecorder& a_recorder,
                                                cCollisionSettings& a_settings);
};


//---------------------------------------------------------------------------
#endif
//---------------------------------------------------------------------------

---

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