source/SoCollisionShapePlane.cpp

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/*
 * 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) 2012, Karlsruhe Institute of Technology (Manfred Kroehnert)
 *
 * 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/SoCollisionShapePlane.h"
#include <Inventor/nodes/SoCube.h>
#include <Inventor/nodes/SoDrawStyle.h>
#include <Inventor/SbLinear.h>

SO_KIT_SOURCE(SoCollisionShapePlane);

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


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

                SO_KIT_ADD_FIELD(normal,(0.0f, 1.0f, 0.0f));
                SO_KIT_ADD_FIELD(distance,(0.0f));

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

                SO_KIT_INIT_INSTANCE();

                SoDrawStyle* dstyle = dynamic_cast<SoDrawStyle*> (getPart("visDrawStyle", TRUE));
                dstyle->style = SoDrawStyle::FILLED;

                updateOdePropertiesTrigger.appendConnection(&normal);
                updateOdePropertiesTrigger.appendConnection(&distance);
}


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


void SoCollisionShapePlane::updateVisualisationAndOdeProperties()
{
                SoCube* visualisationShape = dynamic_cast<SoCube*> (getPart("visualisation", TRUE));
                if (NULL != visualisationShape)
                {
                                visualisationShape->width.setValue(1.0f);
                                visualisationShape->height.setValue(0.001f);
                                visualisationShape->depth.setValue(1.0f);
                }
}


void SoCollisionShapePlane::updateGeomPosition(const SbMatrix& mm)
{
}


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

                // transform plane by current Coin transform
                SbPlane p = SbPlane(normal.getValue(), distance.getValue());
                p.transform(mm);
                SbVec3f n = p.getNormal();

    SbVec3f translation = n;
    translation.normalize();
    translation *= distance.getValue();

    // assume that the axis pointing upwards is the Y-Axis
    SbMatrix odeTransform = SbMatrix::identity();
    odeTransform.setTransform(SbVec3f(translation[0],translation[1],translation[2]),
                              SbRotation(SbVec3f(0, 1, 0), normal.getValue()),
                              SbVec3f(1,1,1));
    transform->matrix.setValue(odeTransform);

                return dCreatePlane (space, n[0], n[1], n[2], p.getDistanceFromOrigin());
}

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