vrsode/include/vrsode/CollisionBody.h

Go to the documentation of this file.

#ifndef _VRSODE_COLLISION_BODY_H_
#define _VRSODE_COLLISION_BODY_H_

#include <ode/ode.h>
#include <vrs/sharedobj.h>
#include <vrs/matrix.h>

#include "CollisionShape.h"
#include "SceneNodeLock.h"
#include "Shape.h"
#include "Surface.h"

namespace VRS
{
    class SceneThing;
    class Translation;
    class Rotation;
    class Shape;
}

namespace vrsode
{

static const unsigned long COLLISION_CAT_STATIC_WORLD = 1;

static const unsigned long COLLISION_CAT_DYNAMIC_OBJS = 2;

class CollisionBody : public VRS::SharedObj
{
    VRS::SO<VRS::SceneThing> m_sceneThing;

    VRS::SO<VRS::Translation> m_translation;
    VRS::SO<VRS::Rotation> m_rotation;

    VRS::SO<VRS::Shape> m_vrsShape;
    
    dGeomID m_geomId;
    CollisionShape m_collisionShape;

    VRS::SO<Surface> m_surface;
    VRS::SO<Shape> m_odeShape;

    VRS::SO<SceneNodeLock> m_sceneNodeLock;

    bool m_reportCollision;

    bool m_cleanedUp;
    
    bool m_wantToDestroy;

protected:
    void setupTransformationNodes();
    void insertLocker();

    bool cleanedUp();
    void setCleanedUp(bool);

public:
    CollisionBody(VRS::SO<VRS::SceneThing>, CollisionShape, bool = true);

    CollisionBody(VRS::SO<VRS::SceneThing>, VRS::SO<Shape>, bool = true);

    virtual ~CollisionBody();

    VRS::SO<VRS::SceneThing> sceneThing() const;

    const dGeomID geomId() const;

    const CollisionShape collisionShape() const;

    virtual void setDebugNode(bool = true);

    const VRS::Vector position() const;

    void setPosition(VRS::Vector);

    void setPosition(double, double, double);

    const VRS::Matrix& rotation() const;

    void setRotation(VRS::Vector, double);

    void setRotation(double, double, double, double);

    VRS::SO<VRS::Translation> translationNode();

    VRS::SO<VRS::Rotation> rotationNode();

    VRS::SO<VRS::Shape> vrsShape();

    virtual void syncTransformationsToODE();

    virtual void handleCollision(VRS::SO<CollisionBody>);

    void setSurface(VRS::SO<Surface>);

    VRS::SO<Surface> surface();

    VRS::SO<Shape> odeShape();

    bool debugNode();

    void setCollisionCategory(unsigned int);

    unsigned int collisionCategory();

    void setCollisionPartnerCategories(unsigned int);

    unsigned int collisionPartnerCategories();

    VRS::SO<SceneNodeLock> sceneNodeLock();

    void setReportCollision(bool);
    
    virtual void destroy();
    
    void wantToDestroy();

    virtual void update();
    
    bool wantsToGetDestroyed();
};

}

#endif

---