include/IPSA/SoCollisionShape.h

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#ifndef IPSA_SOCOLLISIONSHAPE_H
#define IPSA_SOCOLLISIONSHAPE_H
/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "IPSA.h"

#include <Inventor/actions/SoCallbackAction.h>
#include <Inventor/nodekits/SoBaseKit.h>
#include <Inventor/fields/SoSFBool.h>
#include <Inventor/fields/SoSFEnum.h>
#include <Inventor/fields/SoSFUInt32.h>
#include <Inventor/fields/SoSFVec3f.h>
#include <Inventor/fields/SoSFTrigger.h>
#include <Inventor/SbString.h>
#include <Inventor/nodes/SoMatrixTransform.h>
#include <Inventor/sensors/SoFieldSensor.h>

#include <ode/ode.h>

class SoSensor;

class IPSA_IMPORT_EXPORT SoCollisionShape : public SoBaseKit {

SO_KIT_HEADER(SoCollisionShape);

// Defines fields for the new parts in the catalog
SO_KIT_CATALOG_ENTRY_HEADER(separator);
SO_KIT_CATALOG_ENTRY_HEADER(visDrawStyle);
SO_KIT_CATALOG_ENTRY_HEADER(ODETransform);
SO_KIT_CATALOG_ENTRY_HEADER(visualisation);

public:
                // Constructor
                SoCollisionShape(const SbString& nodeName = "");
                // Destructor
                virtual ~SoCollisionShape();

                virtual SoBaseKit* copy(SbBool copyConnections) const;
                SbBool setUpConnections(SbBool onOff, SbBool doItAlways =FALSE);
                static void initClass();
                static SoCallbackAction::Response InitCollisionShapesCB(void* userdata, SoCallbackAction* action, const SoNode* node);

                dGeomID getGeom();
                dGeomID createGeom(const SbMatrix&  mm);
                void setSpace(dSpaceID spaceID);
                dSpaceID getSpace() {return space;}

                SbBool getVisualisationStatus();
                void setVisualisationStatus(SbBool onOff);

                void getCOG(SbVec3f& cog);
                virtual void updateGeomPosition(const SbMatrix& mm);
                void updateOIPosition();

                enum eAlignment
                {
                                STANDARD,       // alignment "as is"
                                CENTERED        // align with center of gravity
                };

                SoSFEnum alignment;

                enum eSurfaceMaterial
                {
                                CLEAN,
                                GREASY,
                                WOOD,
                                GLASS,
                                STEEL,
                                RUBBER,
                                NO_OF_SURFACEMATERIALS
                };

                SoSFEnum surfaceMaterial;

    SoSFUInt32 category;
    SoSFUInt32 collisionmask;
    SoSFBool autoinitialise;

protected:
                virtual dGeomID cGeom(const SbMatrix& mm);
                virtual void updateVisualisationAndOdeProperties();

                SoSFTrigger updateOdePropertiesTrigger;
                SoFieldSensor updateOdePropertiesSensor;
                SoMatrixTransform* transform;
                SbMatrix CoinRefTransform;
                dSpaceID space;
                dGeomID geometry;
                SbVec3f COG;

private:
                static void UpdateVisualisationAndOdePropertiesCB(void* data, SoSensor* sensor);
};

#endif

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