OsgOrganism.cpp

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#include "StdAfx.h"
#include "OsgMovableItem.h"
#include "OsgBody.h"
#include "OsgRigidBody.h"
#include "OsgJoint.h"
#include "OsgOrganism.h"
#include "OsgDragger.h"
#include "OsgSimulator.h"

namespace OsgAnimatSim
{
        namespace Environment
        {

OsgOrganism::OsgOrganism()
{
        m_lpOsgBody = NULL;
        SetThisPointers();
}

OsgOrganism::~OsgOrganism()
{
}

void OsgOrganism::Body(RigidBody *lpBody)
{
        Organism::Body(lpBody);
        m_lpOsgBody = dynamic_cast<OsgMovableItem *>(lpBody);

        if(!m_lpOsgBody)
                THROW_TEXT_ERROR(Osg_Err_lUnableToConvertToVsRigidBody, Osg_Err_strUnableToConvertToVsRigidBody, "ID: " + lpBody->Name());
}

void OsgOrganism::SetThisPointers()
{
        OsgMovableItem::SetThisPointers();

        m_lpThisST = dynamic_cast<Structure *>(this);
        if(!m_lpThisST)
                THROW_TEXT_ERROR(Osg_Err_lThisPointerNotDefined, Osg_Err_strThisPointerNotDefined, "m_lpThisST, " + m_lpThisAB->Name());

        m_lpThisOG = dynamic_cast<Organism *>(this);
        if(!m_lpThisOG)
                THROW_TEXT_ERROR(Osg_Err_lThisPointerNotDefined, Osg_Err_strThisPointerNotDefined, "m_lpThisOG, " + m_lpThisAB->Name());
}

osg::MatrixTransform *OsgOrganism::ParentOSG()
{
        return GetOsgSimulator()->OSGRoot();
}

void OsgOrganism::Create()
{
        CreateItem();

        Organism::Create();
}

void OsgOrganism::SetupPhysics()
{
}

void OsgOrganism::ResetSimulation()
{
        OsgMovableItem::Physics_ResetSimulation();

        Organism::ResetSimulation();
}

void OsgOrganism::UpdatePositionAndRotationFromMatrix()
{
        OsgMovableItem::UpdatePositionAndRotationFromMatrix();

        if(m_lpOsgBody)
    {
                m_lpOsgBody->EndGripDrag();

        //Get the new world matrix from the root body and update our world position.
        m_osgFinalMatrix = m_lpOsgBody->FinalMatrix();
        Physics_UpdateAbsolutePosition();
    }
}

        }                       // Environment
}                               //OsgAnimatSim