[PySoy-SVN] r797 - trunk/pysoy/src/bodies._bodies

[DavidCzech]

Author: DavidCzech
Date: 2008-01-25 01:19:34 +0000 (Fri, 25 Jan 2008)
New Revision: 797

Modified:
   trunk/pysoy/src/bodies._bodies/Body.pxi
Log:
Floor function

Modified: trunk/pysoy/src/bodies._bodies/Body.pxi
===================================================================
--- trunk/pysoy/src/bodies._bodies/Body.pxi     2008-01-23 22:15:51 UTC (rev 
796)
+++ trunk/pysoy/src/bodies._bodies/Body.pxi     2008-01-25 01:19:34 UTC (rev 
797)
@@ -16,7 +16,7 @@
 #  along with this program; if not, see http://www.gnu.org/licenses
 #
 # $Id$
-
+  
 cimport soy._datatypes
 cimport soy.meshes
 
@@ -60,21 +60,29 @@
     cdef ode.dVector3 b
     cdef ode.dReal dist
     if self._scene != 0 and self._scene == myBody._scene:     
-      #print "Vars setup"
-      #a=ode.dBodyGetPosition(<ode.dBodyID>self._bodyID)
       ode.dBodyCopyPosition(<ode.dBodyID> self._bodyID, a)
-      #print "a got position"
       ode.dBodyCopyPosition(<ode.dBodyID> myBody._bodyID, b)
-      #print "b got position"
       dist =ode.dDISTANCE(a,b)
-      #print "dist got Distance",dist
       return dist
     #elif <void *> self._scene == NULL: # FAILS to catch
     #  raise UnboundLocalError('Body is not in a scene')
     elif self._scene != myBody._scene:
       raise RuntimeError('Make sure that both Bodies are in the same Scene')
-  #def distance(self,other) :
-  #  return _distance(self,other)
+    
+  def floor(self,Body floor) :
+      cdef ode.dGeomID myray
+      cdef ode.dContactGeom cg[10]
+      myray = ode.dCreateRay(self._scene._spaceID,1000)
+      
ode.dGeomRaySet(myray,self.position[0],self.position[1],self.position[2],0,-1,0)
+      countacts =ode.dCollide(<ode.dGeomID> myray,<ode.dGeomID> 
self._scene._spaceID,10, cg,sizeof(cg[0]))
+      print "done"
+      for contact in range(countacts): # countacts contains amount of 
collisions
+        print "Trying a contact"
+        if ode.dGeomGetBody(cg[contact].g2)==floor._bodyID:
+          print "Floor found"
+          self.position = (self.position[0], cg[contact].pos[1], 
self.position[2])
+          break
+        
   cdef void poke(self, vector) :
     if self._bodyID :
       ode.dBodyAddForce(self._bodyID, vector[0], vector[1], vector[2])

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