/* -*- mode: c++ -*-   this file is part of rcssserver3D   Fri May 9 2003   Copyright (C) 2003 Koblenz University   $Id: world.cpp,v 1.9 2008/02/22 07:52:15 hedayat 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 "world.h"#include "space.h"#include <oxygen/sceneserver/scene.h>using namespace boost;using namespace oxygen;using namespace salt;World::World() : ODEObject(), mODEWorld(0){}World::~World(){}dWorldID World::GetODEWorld() const{  return mODEWorld;}void World::SetGravity(const Vector3f& gravity){  dWorldSetGravity(mODEWorld,                   gravity.x(),                   gravity.y(),                   gravity.z()                   );}salt::Vector3f World::GetGravity() const{  dVector3 dGravity;  dWorldGetGravity(mODEWorld,dGravity);  return Vector3f(dGravity[0],dGravity[1],dGravity[2]);}void World::SetERP(float erp){  dWorldSetERP(mODEWorld, erp);}float World::GetERP() const{  return dWorldGetERP(mODEWorld);}void World::SetCFM(float cfm){  dWorldSetCFM(mODEWorld, cfm);}float World::GetCFM() const{  return dWorldGetCFM(mODEWorld);}void World::Step(float deltaTime){  dWorldStep(mODEWorld, deltaTime);}bool World::GetAutoDisableFlag() const{  return (dWorldGetAutoDisableFlag(mODEWorld) == 1);}void World::SetAutoDisableFlag(bool flag){  dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));}void World::SetContactSurfaceLayer(float depth){  dWorldSetContactSurfaceLayer(mODEWorld, depth);}float World::GetContactSurfaceLayer() const{  return dWorldGetContactSurfaceLayer(mODEWorld);}bool World::ConstructInternal(){  // create an ode world  mODEWorld = dWorldCreate();  return (mODEWorld != 0);}void World::DestroyODEObject(){  static bool recurseLock = false;  if (recurseLock)    {      return;    }  recurseLock = true;  shared_ptr<Space> space = GetSpace();  if (space.get() != 0)    {      space->DestroyODEObject();    }  if (mODEWorld == 0)    {      return;    }  // release the ODE world  dWorldDestroy(mODEWorld);  mODEWorld = 0;  recurseLock = false;}