raycollider.cpp

来自「robocup rcssserver 运行防真机器人足球比赛所用的服务器端」· C++ 代码 · 共 51 行

/* -*- mode: c++ -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2003 Koblenz University
   $Id: raycollider.cpp,v 1.2 2004/02/12 14:07:23 fruit Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "raycollider.h"

using namespace oxygen;

RayCollider::RayCollider() : Collider()
{
}

void
RayCollider::SetParams(salt::Vector3f pos,
                            salt::Vector3f dir, float length)
{
    dGeomRaySet(mODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
    dGeomRaySetLength(mODEGeom, length);
}

bool
RayCollider::ConstructInternal()
{
    if (! Collider::ConstructInternal())
    {
        return false;
    }

    // create a unit ray
    mODEGeom = dCreateRay(0, 1.0f);

    return (mODEGeom != 0);
}