physics/ODECollidableGroup.cpp

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/****************************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: ODECollidableGroup.cpp 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#include <physics/ODECollidableGroup>

#include <physics/ODECollidableBody>

using base::Dimension3;
using base::Point3;
using base::Orient;

using physics::ODECollidableGroup;
using physics::ODECollidableBody;



ODECollidableGroup::ODECollidableGroup()
{
  create(ODESimpleSpace);
}

ODECollidableGroup::~ODECollidableGroup()
{
  clear();
  dSpaceDestroy(spaceID);
}


void ODECollidableGroup::create(ODECollidableGroup::ODESpaceType type) 
{
  switch (type) {
    case ODESimpleSpace: 
      spaceID = dSimpleSpaceCreate(0);
      break;
    
    case ODEHashSpace: {
      spaceID = dHashSpaceCreate(0);
    } break;
    
    case ODEQuadTreeSpace: {
      // some defaults
      dVector3 center = {0,0,0};
      dVector3 extent = {1025.0,1025.0,1025.0};
      spaceID = dQuadTreeSpaceCreate(0,center,extent,6);
    } break;
    
    default:
      spaceID = dSimpleSpaceCreate(0);
  }
  
  // now put this into the geom data so that the ODECollisionCuller can fetch it
  dGeomSetData((dGeomID)spaceID, this);
  
  dSpaceSetCleanup(spaceID, 0); // don't delete geoms when space is destroyed
}


void ODECollidableGroup::addCollidable(ref<Collidable> c)
{
  Assert(c);
  if (instanceof(*c, ODECollidableBody)) {
    dSpaceAdd(spaceID, (narrow_ref<ODECollidableBody>(c))->getGeomID() );
  }
  else if (instanceof(*c, ODECollidableGroup)) {
    dSpaceAdd(spaceID, (dGeomID)(narrow_ref<ODECollidableGroup>(c))->getSpaceID() );
  }
  else
    throw std::invalid_argument(Exception("only ODE type Collidables can be added to an ODECollidableGroup (not a "+c->className()+")"));

  CollidableGroup::addCollidable(c);
}


void ODECollidableGroup::removeCollidable(ref<Collidable> c)
{
  dGeomID geomID = 0;
  if (instanceof(*c, ODECollidableBody)) {
    geomID = (narrow_ref<ODECollidableBody>(c))->getGeomID();
  }
  else if (instanceof(*c, ODECollidableGroup)) {
    geomID = (dGeomID)(narrow_ref<ODECollidableGroup>(c))->getSpaceID();
  }
  
  if (geomID != 0)
    if (dSpaceQuery(spaceID, geomID) == 0)
      geomID = 0;    
  
  if (geomID == 0)
    throw std::invalid_argument(Exception("the specified Collidable is not in this CollidableGroup"));
  
  dSpaceRemove(spaceID, geomID);
  CollidableGroup::removeCollidable(c);
}


void ODECollidableGroup::clear()
{
  while(dSpaceGetNumGeoms(spaceID) > 0)
    dSpaceRemove(spaceID, dSpaceGetGeom(spaceID, dSpaceGetNumGeoms(spaceID)-1) ); // remove last
  
  CollidableGroup::clear();
}

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