Added setSimType methods

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@667 042f3d55-54a8-47e9-b7fb-15903f145c44

SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp

@@ -299,5 +299,30 @@ void BulletObject::applyTorque(const Eigen::Vector3f &torque)
     rigidBody->applyTorque(btVel);
 }
 
+void BulletObject::setSimType( VirtualRobot::SceneObject::Physics::SimulationType s )
+{
+    btVector3 localInertia;
+    localInertia.setZero();
+    CollisionModelPtr colModel = sceneObject->getCollisionModel();
+
+    switch (s)
+    {
+    case VirtualRobot::SceneObject::Physics::eDynamic:
+    case VirtualRobot::SceneObject::Physics::eUnknown:
+        if (colModel)
+        {
+            collisionShape->calculateLocalInertia(sceneObject->getMass(),localInertia);
+        } else
+            localInertia.setValue(btScalar(1),btScalar(1),btScalar(1)); // give Object a dummy inertia matrix
+        rigidBody->setMassProps(sceneObject->getMass(),localInertia);
+        break;
+    default:
+        // static
+        rigidBody->setMassProps(0,localInertia);
+    }
+
+    DynamicsObject::setSimType(s);
+}
+
 
 } // namespace VirtualRobot

SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h

@@ -81,6 +81,8 @@ public:
      */
     virtual void applyTorque(const Eigen::Vector3f &torque);
 
+    virtual void setSimType(VirtualRobot::SceneObject::Physics::SimulationType s);
+
 protected:
 
     void setPoseIntern(const Eigen::Matrix4f &pose);

SimDynamics/DynamicsEngine/DynamicsObject.cpp

@@ -76,5 +76,10 @@ void DynamicsObject::applyTorque(const Eigen::Vector3f &torque)
 
 }
 
+void DynamicsObject::setSimType( VirtualRobot::SceneObject::Physics::SimulationType s )
+{
+    sceneObject->setSimulationType(s);
+}
+
 
 } // namespace SimDynamics

SimDynamics/DynamicsEngine/DynamicsObject.h

@@ -82,11 +82,12 @@ public:
      */
     virtual void applyTorque(const Eigen::Vector3f &torque);
 
+    virtual void setSimType(VirtualRobot::SceneObject::Physics::SimulationType s);
+
 
 protected:
 
 	VirtualRobot::SceneObjectPtr sceneObject;
-    //SimulationType simulationType;
 };
 
 typedef boost::shared_ptr<DynamicsObject> DynamicsObjectPtr;