source/SoCollisionShapeCylinder.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/SoCollisionShapeCylinder.h"
#include <Inventor/nodes/SoCylinder.h>

SO_KIT_SOURCE(SoCollisionShapeCylinder);

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


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

                SO_KIT_ADD_FIELD(radius,(1.0f));
                SO_KIT_ADD_FIELD(height,(1.0f));

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

                SO_KIT_INIT_INSTANCE();

                updateOdePropertiesTrigger.appendConnection(&radius);
                updateOdePropertiesTrigger.appendConnection(&height);
}


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

                newSoCollisionShape->setUpConnections(TRUE, TRUE);
                return newSoCollisionShape;
}


void SoCollisionShapeCylinder::updateVisualisationAndOdeProperties()
{
                const dGeomID cylinderID = this->geometry;
                if (NULL != cylinderID)
                                dGeomCylinderSetParams(cylinderID, this->radius.getValue(), this->height.getValue());

                SoCylinder* visualisationShape = dynamic_cast<SoCylinder*> (getPart("visualisation", TRUE));
                if (NULL != visualisationShape)
                {
                                visualisationShape->radius.setValue( this->radius.getValue() );
                                visualisationShape->height.setValue( this->height.getValue() );
                }
}


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

                return dCreateCylinder(space, radius.getValue(), height.getValue());
}

---