VolumeSensor.cpp

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/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  alan.fischer@gmail.com                                  *
 * Andres Reinot  andres@reinot.com                                      *
 * Tyler Streeter  tylerstreeter@gmail.com                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library 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 files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#include "VolumeSensor.h"
#include "Simulator.h"

namespace opal
{
        VolumeSensor::VolumeSensor(Simulator* s)
        {
                // "mData" is initialized in its own constructor.
                mSim = s;
        }

        VolumeSensor::~VolumeSensor()
        {
        }

        void VolumeSensor::init(const VolumeSensorData& data)
        {
                Sensor::init();
                mData = data;
        }

        const VolumeSensorData& VolumeSensor::getData()const
        {
                return mData;
        }

        const VolumeQueryResult& VolumeSensor::queryVolume(Solid* volume)
        {
                if (mData.enabled)
                {
                        // The volume Solid's transform will be totally ignored.

                        // Store the volume Solid's transform.
                        Matrix44r originalVolumeTransform = volume->getTransform();

                        // If the Sensor is attached to a Solid, we need to transform 
                        // the volume relative to the Solid's transform and the 
                        // Sensor's transform.
                        if (mData.solid)
                        {
                                volume->setTransform(mData.solid->getTransform() * 
                                        mData.transform);
                        }
                        else
                        {
                                // If the Sensor is not attached to a Solid, just use the 
                                // Sensor's transform as a global transform on the volume.
                                volume->setTransform(mData.transform);
                        }

                        // If this is attached to a Solid, the Simulator volume query 
                        // function will automatically ignore intersections between the 
                        // volume and that Solid.

                        // Query the volume for colliding Solids.
                        const VolumeQueryResult& result = 
                                mSim->internal_queryVolume(volume, mData.solid);

                        // Restore the volume Solid's original transform.
                        volume->setTransform(originalVolumeTransform);

                        return result;
                }
                else
                {
                        static VolumeQueryResult junkResult;
                        return junkResult;
                }
        }

        void VolumeSensor::setEnabled(bool e)
        {
                //if (!mInitCalled)
                //{
                //      return;
                //}

                mData.enabled = e;
        }

        bool VolumeSensor::isEnabled()const
        {
                return mData.enabled;
        }

        SensorType VolumeSensor::getType()const
        {
                return mData.getType();
        }

        void VolumeSensor::setTransform(const Matrix44r& t)
        {
                mData.transform = t;
        }

        const Matrix44r& VolumeSensor::getTransform()const
        {
                return mData.transform;
        }

        void VolumeSensor::setName(const std::string& name)
        {
                mData.name = name;
        }

        const std::string& VolumeSensor::getName()const
        {
                return mData.name;
        }

        void VolumeSensor::internal_update()
        {
                if (mData.enabled && mData.solid)
                {
                        // Do nothing.
                }
        }

        bool VolumeSensor::internal_dependsOnSolid(Solid* s)
        {
                if (s == mData.solid)
                {
                        return true;
                }
                else
                {
                        return false;
                }
        }
}

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