worldsim/src/physphere.cpp

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#include "physphere.h"
#include "private/phyobjectprivate.h"
#include "private/worldprivate.h"

namespace farsa {

PhySphere::PhySphere( real radius, World* w, QString name, const wMatrix& tm )
    : PhyObject( w, name, tm, false ) {
    radiusv = radius;
    w->pushObject( this );
    createPrivateObject();
    changedMatrix();
}

PhySphere::~PhySphere() {
#ifdef WORLDSIM_USE_NEWTON
    /* nothing to do */
#endif
}

void PhySphere::createPrivateObject() {
#ifdef WORLDSIM_USE_NEWTON
    NewtonCollision* c = NewtonCreateSphere( worldpriv->world, radiusv, radiusv, radiusv, 1, 0 );
    wMatrix initialTransformationMatrix = wMatrix::identity(); // The transformation matrix is set in other places
    priv->body = NewtonCreateBody( worldpriv->world, c, &initialTransformationMatrix[0][0] );
    priv->collision = NewtonBodyGetCollision( priv->body );
    //NewtonReleaseCollision( worldpriv->world, c );
    NewtonBodySetAutoSleep( priv->body, 0 );
    setMass( 1 );
    NewtonBodySetUserData( priv->body, this );
    NewtonBodySetLinearDamping( priv->body, 0.0 );
    wVector zero = wVector(0,0,0,0);
    NewtonBodySetAngularDamping( priv->body, &zero[0] );
    NewtonBodySetAutoSleep( priv->body, 0 );
    NewtonBodySetFreezeState( priv->body, 0 );
    // Sets the signal-wrappers callback
    NewtonBodySetTransformCallback( priv->body, (PhyObjectPrivate::setTransformHandler) );
    NewtonBodySetForceAndTorqueCallback( priv->body, (PhyObjectPrivate::applyForceAndTorqueHandler) );
#endif
}

} // end namespace farsa