addons/ODE/source/IoODEJoint.c

   1 //metadoc ODEJoint 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 "IoODEBody.h"
   9 #include "IoState.h"
  10 #include "IoSeq.h"
  11 #include "IoVector_ode.h"
  12 #include "GLIncludes.h"
  13
  14 /* ----------------------------------------------------------- */
  15
  16 IoTag *IoODEJoint_newTag(void *state)
  17 {
  18                 // TODO: Get rid of IoODEJoint as an IoObject. Can't be manipulated directly through Io.
  19         IoTag *tag = IoTag_newWithName_("ODEJoint");
  20         IoTag_state_(tag, state);
  21         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODEJoint_free);
  22         IoTag_markFunc_(tag, (IoTagMarkFunc *)IoODEJoint_mark);
  23         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODEJoint_rawClone);
  24         return tag;
  25 }
  26
  27 IoODEJoint *IoODEJoint_proto(void *state)
  28 {
  29         IoObject *self = IoObject_new(state);
  30         IoObject_tag_(self, IoODEJoint_newTag(state));
  31
  32         IoODEJoint_protoCommon(self);
  33
  34         IoState_registerProtoWithFunc_(state, self, IoODEJoint_proto);
  35
  36         {
  37                 IoMethodTable methodTable[] = {
  38                                 ODE_COMMON_JOINT_METHODS
  39                 {NULL, NULL},
  40                 };
  41                 IoObject_addMethodTable_(self, methodTable);
  42         }
  43         return self;
  44 }
  45
  46 void IoODEJoint_protoCommon(IoODEJoint *self)
  47 {
  48         IoObject_setDataPointer_(self, calloc(1, sizeof(IoODEJointData)));
  49
  50         JOINTID = 0;
  51         JOINTGROUP = 0L;
  52 }
  53
  54
  55 IoODEJoint *IoODEJoint_rawClone(IoODEJoint *proto)
  56 {
  57         IoObject *self = IoObject_rawClonePrimitive(proto);
  58         IoObject_setDataPointer_(self, calloc(1, sizeof(IoODEJointData)));
  59         return self;
  60 }
  61
  62 void IoODEJoint_free(IoODEJoint *self)
  63 {
  64         if(JOINTID && JOINTGROUP)
  65         {
  66                 IoODEJointGroup_removeJoint(JOINTGROUP, self);
  67                 dJointDestroy(JOINTID);
  68         }
  69         free(IoObject_dataPointer(self));
  70 }
  71
  72 void IoODEJoint_mark(IoODEJoint *self)
  73 {
  74         if(JOINTGROUP)
  75         {
  76                 IoObject_shouldMark((IoObject *)JOINTGROUP);
  77         }
  78 }
  79
  80 IoODEJoint *IoODEJoint_newProtoCommon(void *state, IoStateProtoFunc *func, IoODEJointGroup *jointGroup)
  81 {
  82         IoODEJoint *proto = IoState_protoWithInitFunction_(state, func);
  83         IoODEJoint *self = IOCLONE(proto);
  84         JOINTGROUP = jointGroup;
  85         return self;
  86 }
  87
  88 /* ----------------------------------------------------------- */
  89
  90 void IoODEJoint_worldDestoryed(IoODEJoint *self)
  91 {
  92         JOINTGROUP = 0L;
  93         JOINTID = 0;
  94 }
  95
  96 /* ----------------------------------------------------------- */
  97
  98
  99 IoObject *IoODEJoint_jointId(IoODEJoint *self, IoObject *locals, IoMessage *m)
 100 {
 101         return IONUMBER((long)JOINTID);
 102 }
 103
 104 IoObject *IoODEJoint_jointGroup(IoODEJoint *self, IoObject *locals, IoMessage *m)
 105 {
 106         return JOINTGROUP ? JOINTGROUP : IONIL(self);
 107 }
 108
 109 void IoODEJoint_assertValidJoint(IoODEJoint *self, IoObject *locals, IoMessage *m)
 110 {
 111         IOASSERT(JOINTGROUP, "This ODE joint belongs to an ODE joint group which has been freed or emptied.");
 112         IOASSERT(JOINTID, "ODE Joint cannot be used directly. Clone the joint and use the Joint on the cloned joint.");
 113 }
 114
 115 IoObject *IoODEJoint_attach(IoODEJoint *self, IoObject *locals, IoMessage *m)
 116 {
 117         dBodyID body1 = IoMessage_locals_odeBodyIdArgAt_(m, locals, 0);
 118         dBodyID body2 = IoMessage_locals_odeBodyIdArgAt_(m, locals, 1);
 119
 120         IoODEJoint_assertValidJoint(self, locals, m);
 121         dJointAttach(JOINTID, body1, body2);
 122         return self;
 123 }
 124
 125 IoObject *IoODEJoint_attachedBody1(IoODEJoint *self, IoObject *locals, IoMessage *m)
 126 {
 127         IoODEJoint_assertValidJoint(self, locals, m);
 128                 return IoODEBody_bodyFromId(IOSTATE, dJointGetBody(JOINTID, 0));
 129 }
 130
 131 IoObject *IoODEJoint_attachedBody2(IoODEJoint *self, IoObject *locals, IoMessage *m)
 132 {
 133         IoODEJoint_assertValidJoint(self, locals, m);
 134                 return IoODEBody_bodyFromId(IOSTATE, dJointGetBody(JOINTID, 1));
 135 }
 136
 137 IoObject *IoODEJoint_getParam(IoODEJoint *self, IoObject *locals, IoMessage *m, int parameter, IoODEJointGetParamFunc func)
 138 {
 139         IoODEJoint_assertValidJoint(self, locals, m);
 140         return IONUMBER(func(JOINTID, parameter));
 141 }
 142
 143 IoObject *IoODEJoint_setParam(IoODEJoint *self, IoObject *locals, IoMessage *m, int parameter, IoODEJointSetParamFunc func)
 144 {
 145         dReal value = IoMessage_locals_doubleArgAt_(m, locals, 0);
 146         IoODEJoint_assertValidJoint(self, locals, m);
 147         func(JOINTID, parameter, value);
 148         return self;
 149 }
 150
 151 IoObject *IoODEJoint_getVector3(IoODEJoint *self, IoObject *locals, IoMessage *m, IoODEJointGetVector3Func func)
 152 {
 153         dVector3 anchor;
 154
 155         IoODEJoint_assertValidJoint(self, locals, m);
 156         func(JOINTID, anchor);
 157         return IoVector_newWithODEPoint(IOSTATE, anchor);
 158 }
 159
 160 IoObject *IoODEJoint_setVector3(IoODEJoint *self, IoObject *locals, IoMessage *m, IoODEJointSetVector3Func func)
 161 {
 162         dReal x = IoMessage_locals_doubleArgAt_(m, locals, 0);
 163         dReal y = IoMessage_locals_doubleArgAt_(m, locals, 1);
 164         dReal z = IoMessage_locals_doubleArgAt_(m, locals, 2);
 165
 166         IoODEJoint_assertValidJoint(self, locals, m);
 167         func(JOINTID, x, y, z);
 168         return self;
 169 }
 170
 171 IoObject *IoODEJoint_getReal(IoODEJoint *self, IoObject *locals, IoMessage *m, IoODEJointGetReal func)
 172 {
 173         IoODEJoint_assertValidJoint(self, locals, m);
 174         return IONUMBER(func(JOINTID));
 175 }
 176
 177 IoObject *IoODEJoint_setReal(IoODEJoint *self, IoObject *locals, IoMessage *m, IoODEJointSetReal func)
 178 {
 179         dReal value = IoMessage_locals_doubleArgAt_(m, locals, 0);
 180
 181         IoODEJoint_assertValidJoint(self, locals, m);
 182         func(JOINTID, value);
 183         return self;
 184 }
 185
 186 IoObject *IoODEJoint_setReal2(IoODEJoint *self, IoObject *locals, IoMessage *m, IoODEJointSetReal2 func)
 187 {
 188         dReal value1 = IoMessage_locals_doubleArgAt_(m, locals, 0);
 189         dReal value2 = IoMessage_locals_doubleArgAt_(m, locals, 1);
 190
 191         IoODEJoint_assertValidJoint(self, locals, m);
 192         func(JOINTID, value1, value2);
 193         return self;
 194 }