[ODE] What NearCallback must be like? I cannot place it inside a class!

[Alex Brown]

you can make it a static member function and pass the PhysicBasic ptr as the
data parameter. It's been a while but I think that's what that parameter is
for.

On 7/27/06, michael kapelko <kornerr at gmail.com> wrote:
>
> I created a basic physics class to incapsulate world creation, callback
> func, etc.
> But when I try to compile main.cpp where I use it, I get:
> main.cpp: In function `void Simulate(bool)':
> main.cpp:251: error: ISO C++ forbids taking the address of a bound member
>     function to form a pointer to member function.  Say `&PhysicsBasic::
>     NearCallback'
> main.cpp:251: error: cannot convert `void (PhysicsBasic::*)(void*,
> dxGeom*,
>     dxGeom*)' to `void (*)(void*, dxGeom*, dxGeom*)' for argument `3' to
> `void
>     dSpaceCollide(dxSpace*, void*, void (*)(void*, dxGeom*, dxGeom*))'
> make: *** [.obj/main.o] Error 1
>
> I tried both PhysicsBasic phys and PhysicsBasic *phys, but none works.
> Does this function must be outside any class? But how to encapsulate it
> then?
> Thanks.
>
>
> /// Basic physics implementation
>
> #ifndef PHYSICS_BASIC_H
> #define PHYSICS_BASIC_H
>
> #include "../globals.h"
>
> class PhysicsBasic {
>          public:
>                  /// Constructor
>                  PhysicsBasic ();
>                  /// Destructor
>                  ~PhysicsBasic ();
>                  /// Gets called when two objects are close enough
>
>                  /// ODE calls this function whenever it thinks two
> objects are close enough                /// to check for collision
>                  /// \param data can't remember...
>                  /// \param o1 the first geom of two which should be
> checked for collision
>                  /// \param o2 the second geom of two which should be
> checked for collision
>                  void NearCallback (void *data, dGeomID o1, dGeomID o2);
>                  /// Create main world
>                  void CreateWorld ();
>                  /// Destory main world
>                  void DestroyWorld ();
>
>                  /// Main world
>                  dWorldID world;
>                  /// Main space (used by collision detection)
>                  dSpaceID space;
>                  /// Contact joints group (used by collision detection)
>                  dJointGroupID contact_group;
>                  /// Level geometry representation
>
>                  /// We define our level as geom only, because we don't
> want it to be affected by
>                  /// gravity. When we want an object to be affected by
> gravity, we define
>                  /// it as geom AND body.
>                  /// \n\n TODO: but how then it's known that this should
> be collidable?
>                  /// NearCallback (...) retrieves body info for
> collision detection...
>                  dGeomID level;
> };
>
> #endif // PHYSICS_BASIC_H
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