RbRigidBody.cpp

// RbRigidBody.cpp: implementation of the RbRigidBody class.
//

#include "StdAfx.h"
#include "RbMovableItem.h"
#include "RbBody.h"
#include "RbJoint.h"
#include "RbRigidBody.h"
#include "RbSimulator.h"

namespace RoboticsAnimatSim
{
        namespace Environment
        {

// Construction/Destruction

RbRigidBody::RbRigidBody()
{
        m_lpMaterial = NULL;
    m_lpRbSim = NULL;
}

RbRigidBody::~RbRigidBody()
{

try
{
}
catch(...)
{Std_TraceMsg(0, "Caught Error in desctructor of RbRigidBody\r\n", "", -1, false, true);}
}

bool RbRigidBody::Physics_IsDefined()
{
    return true;
}

bool RbRigidBody::Physics_IsGeometryDefined()
{
    return true;
}

CStdFPoint RbRigidBody::Physics_GetCurrentPosition()
{
        CStdFPoint vPos;
        return vPos;
}

RbSimulator *RbRigidBody::GetRbSimulator()
{
    if(!m_lpRbSim)
    {
        m_lpRbSim = dynamic_cast<RbSimulator *>(m_lpThisAB->GetSimulator());
            if(!m_lpThisRbMI)
                    THROW_TEXT_ERROR(Rb_Err_lThisPointerNotDefined, Rb_Err_strThisPointerNotDefined, "m_lpRbSim, " + m_lpThisAB->Name());
    }
        return m_lpRbSim;
}

void RbRigidBody::Physics_UpdateNode()
{
}

void RbRigidBody::Physics_SetFreeze(bool bVal)
{
}

void RbRigidBody::Physics_SetMass(float fltVal)
{
}

float RbRigidBody::Physics_GetMass()
{
        return 0;
}

float RbRigidBody::Physics_GetDensity()
{
    return 0;
}

void RbRigidBody::Physics_SetMaterialID(std::string strID)
{
}

void RbRigidBody::Physics_SetVelocityDamping(float fltLinear, float fltAngular)
{
}

void RbRigidBody::Physics_SetCenterOfMass(float fltTx, float fltTy, float fltTz)
{
}

void  RbRigidBody::Physics_FluidDataChanged()
{
}

void RbRigidBody::Physics_WakeDynamics()
{
}

void RbRigidBody::Physics_ContactSensorAdded(ContactSensor *lpSensor)
{
}

void RbRigidBody::Physics_ContactSensorRemoved()
{
}

void RbRigidBody::Physics_ChildBodyAdded(RigidBody *lpChild)
{
}

void RbRigidBody::Physics_ChildBodyRemoved(bool bHasStaticJoint)
{
}

void RbRigidBody::Physics_CollectData()
{
}

void RbRigidBody::Physics_CollectExtraData()
{
}

void RbRigidBody::Physics_ResetSimulation()
{
}

void RbRigidBody::Physics_EnableCollision(RigidBody *lpBody)
{
}

void RbRigidBody::Physics_DisableCollision(RigidBody *lpBody)
{
}

void RbRigidBody::Physics_AddBodyForceAtLocalPos(float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)
{
}

void RbRigidBody::Physics_AddBodyForceAtWorldPos(float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)
{
}

void RbRigidBody::Physics_AddBodyTorque(float fltTx, float fltTy, float fltTz, bool bScaleUnits)
{
}

CStdFPoint RbRigidBody::Physics_GetVelocityAtPoint(float x, float y, float z)
{
        CStdFPoint linVel(0,0,0);
        return linVel;
}       

bool RbRigidBody::Physics_HasCollisionGeometry()
{
        return true;
}

void RbRigidBody::Physics_StepHydrodynamicSimulation()
{
}

float *RbRigidBody::Physics_GetDataPointer(const std::string &strDataType)
{
        std::string strType = Std_CheckString(strDataType);
        RigidBody *lpBody = dynamic_cast<RigidBody *>(this);

        if(strType == "BODYBUOYANCY")
                return (&m_fltReportNull);

        if(strType == "BODYDRAGFORCEX")
                return (&m_fltReportNull);

        if(strType == "BODYDRAGFORCEY")
                return (&m_fltReportNull);

    if(strType == "BODYDRAGFORCEZ")
                return (&m_fltReportNull);

        if(strType == "BODYDRAGTORQUEX")
                return (&m_fltReportNull);

        if(strType == "BODYDRAGTORQUEY")
                return (&m_fltReportNull);

    if(strType == "BODYDRAGTORQUEZ")
                return (&m_fltReportNull);

        if(strType == "BODYTORQUEX")
                return (&m_fltReportNull);

        if(strType == "BODYTORQUEY")
                return (&m_fltReportNull);

        if(strType == "BODYTORQUEZ")
                return (&m_fltReportNull);

        if(strType == "BODYFORCEX")
                return (&m_fltReportNull);

        if(strType == "BODYFORCEY")
                return (&m_fltReportNull);

        if(strType == "BODYFORCEZ")
                return (&m_fltReportNull);

        if(strType == "BODYLINEARVELOCITYX")
                return (&m_fltReportNull);

        if(strType == "BODYLINEARVELOCITYY")
                return (&m_fltReportNull);

        if(strType == "BODYLINEARVELOCITYZ")
                return (&m_fltReportNull);

        if(strType == "BODYANGULARVELOCITYX")
                return (&m_fltReportNull);

        if(strType == "BODYANGULARVELOCITYY")
                return (&m_fltReportNull);

        if(strType == "BODYANGULARVELOCITYZ")
                return (&m_fltReportNull);

        if(strType == "BODYLINEARACCELERATIONX")
                return (&m_fltReportNull);

        if(strType == "BODYLINEARACCELERATIONY")
                return (&m_fltReportNull);

        if(strType == "BODYLINEARACCELERATIONZ")
                return (&m_fltReportNull);

        if(strType == "BODYANGULARACCELERATIONX")
                return (&m_fltReportNull);

        if(strType == "BODYANGULARACCELERATIONY")
                return (&m_fltReportNull);

        if(strType == "BODYANGULARACCELERATIONZ")
                return (&m_fltReportNull);

        return NULL;
}

        }                       // Environment
}                               //RoboticsAnimatSim