addons/ODE/source/IoODEHinge2.c

   1 //metadoc ODEJoint copyright Jonathan Wright", 2006)
   2 //metadoc ODEJoint license BSD revised
   3 /*metadoc ODEJoint description
   4 ODEJoint binding")
   5 */
   6
   7 #include "IoODEJoint_internal.h"
   8 #include "IoODEHinge2.h"
   9 #include "IoODEBody.h"
  10 #include "IoState.h"
  11 #include "IoSeq.h"
  12 #include "IoVector_ode.h"
  13 #include "GLIncludes.h"
  14
  15 /* ----------------------------------------------------------- */
  16
  17 IoTag *IoODEHinge2_newTag(void *state)
  18 {
  19         IoTag *tag = IoTag_newWithName_("ODEHinge2");
  20         IoTag_state_(tag, state);
  21         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODEHinge2_free);
  22         IoTag_markFunc_(tag, (IoTagMarkFunc *)IoODEHinge2_mark);
  23         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODEHinge2_rawClone);
  24         return tag;
  25 }
  26
  27 IoODEHinge2 *IoODEHinge2_proto(void *state)
  28 {
  29         IoObject *self = IoObject_new(state);
  30         IoObject_tag_(self, IoODEHinge2_newTag(state));
  31
  32         IoODEJoint_protoCommon(self);
  33
  34         IoState_registerProtoWithFunc_(state, self, IoODEHinge2_proto);
  35
  36         {
  37                 IoMethodTable methodTable[] = {
  38                                 ODE_COMMON_JOINT_METHODS
  39 #define PARAM(X, _N, _SETN) \
  40                 {#_N, IoODEHinge2_##_N}, \
  41                 {#_SETN, IoODEHinge2_##_SETN},
  42 PARAMS
  43 #undef PARAM
  44
  45                 {"anchor", IoODEHinge2_anchor},
  46                                 {"setAnchor", IoODEHinge2_setAnchor},
  47                 {"anchor2", IoODEHinge2_anchor2},
  48                 {"axis1", IoODEHinge2_axis1},
  49                                 {"setAxis1", IoODEHinge2_setAxis1},
  50                 {"axis2", IoODEHinge2_axis2},
  51                                 {"setAxis2", IoODEHinge2_setAxis2},
  52                 {"angle1", IoODEHinge2_angle1},
  53                 {"angle1Rate", IoODEHinge2_angle1Rate},
  54                 {"angle2Rate", IoODEHinge2_angle2Rate},
  55                                 {"addTorques", IoODEHinge2_addTorques},
  56
  57                 {NULL, NULL},
  58                 };
  59                 IoObject_addMethodTable_(self, methodTable);
  60         }
  61         return self;
  62 }
  63
  64 IoODEHinge2 *IoODEHinge2_rawClone(IoODEHinge2 *proto)
  65 {
  66         IoObject *self = IoODEJoint_rawClone(proto);
  67
  68         if(DATA(proto)->jointGroup)
  69         {
  70                 IoODEJointGroup *jointGroup = DATA(proto)->jointGroup;
  71
  72                 JOINTGROUP = jointGroup;
  73                 IoODEJointGroup_addJoint(jointGroup, self);
  74                 JOINTID = dJointCreateHinge2(WORLDID, JOINTGROUPID);
  75         }
  76         return self;
  77 }
  78
  79 void IoODEHinge2_free(IoODEHinge2 *self)
  80 {
  81         IoODEJoint_free(self);
  82 }
  83
  84 void IoODEHinge2_mark(IoODEHinge2 *self)
  85 {
  86         IoODEJoint_mark(self);
  87 }
  88
  89 IoODEJoint *IoODEHinge2_newProto(void *state, IoODEJointGroup *jointGroup)
  90 {
  91         return IoODEJoint_newProtoCommon(state, IoODEHinge2_proto, jointGroup);
  92 }
  93
  94 /* ----------------------------------------------------------- */
  95
  96
  97 IoObject *IoODEHinge2_getParam(IoODEHinge2 *self, IoObject *locals, IoMessage *m, int parameter)
  98 {
  99         return IoODEJoint_getParam(self, locals, m, parameter, dJointGetHinge2Param);
 100 }
 101
 102 IoObject *IoODEHinge2_setParam(IoODEHinge2 *self, IoObject *locals, IoMessage *m, int parameter)
 103 {
 104         return IoODEJoint_setParam(self, locals, m, parameter, dJointSetHinge2Param);
 105 }
 106
 107 #define PARAM(X, _N, _SETN) \
 108 IoObject *IoODEHinge2_##_N(IoODEHinge2 *self, IoObject *locals, IoMessage *m) \
 109 { \
 110         return IoODEHinge2_getParam(self, locals, m, X); \
 111 } \
 112  \
 113 IoObject *IoODEHinge2_##_SETN(IoODEHinge2 *self, IoObject *locals, IoMessage *m) \
 114 { \
 115         return IoODEHinge2_setParam(self, locals, m, X); \
 116 }
 117 PARAMS
 118 #undef PARAM
 119
 120 IoObject *IoODEHinge2_anchor(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 121 {
 122         return IoODEJoint_getVector3(self, locals, m, dJointGetHinge2Anchor);
 123 }
 124
 125 IoObject *IoODEHinge2_anchor2(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 126 {
 127         return IoODEJoint_getVector3(self, locals, m, dJointGetHinge2Anchor2);
 128 }
 129
 130 IoObject *IoODEHinge2_axis1(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 131 {
 132         return IoODEJoint_getVector3(self, locals, m, dJointGetHinge2Axis1);
 133 }
 134
 135 IoObject *IoODEHinge2_axis2(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 136 {
 137         return IoODEJoint_getVector3(self, locals, m, dJointGetHinge2Axis2);
 138 }
 139
 140 IoObject *IoODEHinge2_angle1(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 141 {
 142         return IoODEJoint_getReal(self, locals, m, dJointGetHinge2Angle1);
 143 }
 144
 145 IoObject *IoODEHinge2_angle1Rate(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 146 {
 147         return IoODEJoint_getReal(self, locals, m, dJointGetHinge2Angle1Rate);
 148 }
 149
 150 IoObject *IoODEHinge2_angle2Rate(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 151 {
 152         return IoODEJoint_getReal(self, locals, m, dJointGetHinge2Angle2Rate);
 153 }
 154
 155
 156 IoObject *IoODEHinge2_setAnchor(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 157 {
 158         return IoODEJoint_setVector3(self, locals, m, dJointSetHinge2Anchor);
 159 }
 160
 161 IoObject *IoODEHinge2_setAxis1(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 162 {
 163         return IoODEJoint_setVector3(self, locals, m, dJointSetHinge2Axis1);
 164 }
 165
 166 IoObject *IoODEHinge2_setAxis2(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 167 {
 168         return IoODEJoint_setVector3(self, locals, m, dJointSetHinge2Axis2);
 169 }
 170
 171 IoObject *IoODEHinge2_addTorques(IoODEHinge2 *self, IoObject *locals, IoMessage *m)
 172 {
 173         return IoODEJoint_setReal2(self, locals, m, dJointAddHinge2Torques);
 174 }
 175