source/SoCollisionShapeBox.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (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 "../include/IPSA/SoCollisionShapeBox.h"
#include <Inventor/nodes/SoCube.h>

SO_KIT_SOURCE(SoCollisionShapeBox);

void SoCollisionShapeBox::initClass()
{
                SO_KIT_INIT_CLASS(SoCollisionShapeBox, SoCollisionShape, "CollisionShape");
}


SoCollisionShapeBox::SoCollisionShapeBox(const SbString& nodeName /*=""*/)
: SoCollisionShape(nodeName)
{
                SO_KIT_CONSTRUCTOR(SoCollisionShapeBox);
                isBuiltIn = TRUE;

                SO_KIT_ADD_FIELD(dimension,(1.0f, 1.0f, 1.0f));

                SO_KIT_CHANGE_ENTRY_TYPE(visualisation,SoCube,SoCube);
                SO_KIT_CHANGE_NULL_BY_DEFAULT(visualisation, FALSE);

                SO_KIT_INIT_INSTANCE();

                updateOdePropertiesTrigger.appendConnection(&dimension);
}


SoCollisionShape* SoCollisionShapeBox::copy(SbBool copyConnections) const
{
                // Use the standard version of the copy method to create a
                // copy of this instance, including its field data
                SoCollisionShapeBox* newSoCollisionShape = dynamic_cast<SoCollisionShapeBox*> (SoCollisionShape::copy(copyConnections));
                newSoCollisionShape->setUpConnections(TRUE, TRUE);
                return newSoCollisionShape;
}


void SoCollisionShapeBox::updateVisualisationAndOdeProperties()
{
                const SbVec3f dim = this->dimension.getValue();
                const dGeomID boxID = this->geometry;
                if (NULL != boxID)
                                dGeomBoxSetLengths(boxID, dim[0], dim[1], dim[2]);

                SoCube* visualisationShape = dynamic_cast<SoCube*> (getPart("visualisation", TRUE));
                if (NULL != visualisationShape)
                {
                                visualisationShape->width.setValue(dim[0]);
                                visualisationShape->height.setValue(dim[1]);
                                visualisationShape->depth.setValue(dim[2]);
                }
}

dGeomID SoCollisionShapeBox::cGeom(const SbMatrix& mm)
{
                assert(space != NULL);

                const SbVec3f dim = this->dimension.getValue();

                return dCreateBox(space, dim[0], dim[1], dim[2]);
}

---