Function dGeomSetBody

3rd_party/Src/ode/ode/src/collision_kernel.cpp:308–337

void dGeomSetBody (dxGeom *g, dxBody *b)
{
  dAASSERT (g);
  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
  CHECK_NOT_LOCKED (g->parent_space);

  if (b) {
    if (!g->body) dFree (g->pos,sizeof(dxPosR));
    g->pos = b->pos;
    g->R = b->R;
    dGeomMoved (g);
    if (g->body != b) {
      g->bodyRemove();
      g->bodyAdd (b);
    }
  }
  else {
    if (g->body) {
      dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
      g->pos = pr->pos;
      g->R = pr->R;
      memcpy (g->pos,g->body->pos,sizeof(dVector3));
      memcpy (g->R,g->body->R,sizeof(dMatrix3));
      g->bodyRemove();
    }
    // dGeomMoved() should not be called if the body is being set to 0, as the
    // new position of the geom is set to the old position of the body, so the
    // effective position of the geom remains unchanged.
  }
}


dBodyID dGeomGetBody (dxGeom *g)