addons/ODE/source/IoODEJointGroup.c

   1 //metadoc ODEJointGroup copyright Jonathan Wright, 2006
   2 //metadoc ODEJointGroup license BSD revised
   3 /*metadoc ODEJointGroup description
   4 ODEJointGroup binding
   5 */
   6
   7 #include "IoODEJointGroup.h"
   8 #include "IoODEJoint.h"
   9 #include "IoODEContact.h"
  10 #include "IoState.h"
  11 #include "IoList.h"
  12
  13 #include "IoODEBall.h"
  14 #include "IoODEHinge.h"
  15 #include "IoODESlider.h"
  16 #include "IoODEHinge2.h"
  17 #include "IoODEUniversal.h"
  18 #include "IoODEFixed.h"
  19 //#include "IoODEAMotor.h"
  20 //#include "IoODELMotor.h"
  21 #include "IoODEContactJoint.h"
  22
  23 #define DATA(self) ((IoODEJointGroupData *)IoObject_dataPointer(self))
  24 #define JOINTGROUPID (DATA(self)->jointGroupId)
  25 #define WORLD (DATA(self)->world)
  26 #define WORLDID (IoODEWorld_rawWorldId(WORLD))
  27
  28
  29 IoTag *IoODEJointGroup_newTag(void *state)
  30 {
  31         IoTag *tag = IoTag_newWithName_("ODEJointGroup");
  32         IoTag_state_(tag, state);
  33         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODEJointGroup_free);
  34         IoTag_markFunc_(tag, (IoTagMarkFunc *)IoODEJointGroup_mark);
  35         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODEJointGroup_rawClone);
  36         return tag;
  37 }
  38
  39 IoODEJointGroup *IoODEJointGroup_proto(void *state)
  40 {
  41         IoObject *self = IoObject_new(state);
  42         IoObject_tag_(self, IoODEJointGroup_newTag(state));
  43
  44         IoObject_setDataPointer_(self, calloc(1, sizeof(IoODEJointGroupData)));
  45
  46         JOINTGROUPID = 0;
  47         WORLD = 0L;
  48         DATA(self)->joints = 0L;
  49
  50         IoState_registerProtoWithFunc_(state, self, IoODEJointGroup_proto);
  51
  52         {
  53                 IoMethodTable methodTable[] = {
  54                 {"jointGroupId", IoODEJointGroup_jointGroupId},
  55                 {"world", IoODEJointGroup_world},
  56                 {"empty", IoODEJointGroup_empty},
  57                 {"joints", IoODEJointGroup_joints},
  58                 {"createContact", IoODEJointGroup_createContact},
  59                 {NULL, NULL},
  60                 };
  61                 IoObject_addMethodTable_(self, methodTable);
  62         }
  63         return self;
  64 }
  65
  66 IoODEJointGroup *IoODEJointGroup_rawClone(IoODEJointGroup *proto)
  67 {
  68         IoObject *self = IoObject_rawClonePrimitive(proto);
  69         IoObject_setDataPointer_(self, calloc(1, sizeof(IoODEJointGroupData)));
  70
  71         if(DATA(proto)->world)
  72         {
  73                 IoODEWorld *world = DATA(proto)->world;
  74                 WORLD = world;
  75                 IoODEWorld_addJointGroup(world, self);
  76                 JOINTGROUPID = dJointGroupCreate(0);
  77                 DATA(self)->joints = List_new();
  78
  79                 IoObject_inlineSetSlot_to_(self, IOSYMBOL("Ball"), IoODEBall_newProto(IOSTATE, self));
  80                 IoObject_inlineSetSlot_to_(self, IOSYMBOL("Hinge"), IoODEHinge_newProto(IOSTATE, self));
  81                 IoObject_inlineSetSlot_to_(self, IOSYMBOL("Slider"), IoODESlider_newProto(IOSTATE, self));
  82                 IoObject_inlineSetSlot_to_(self, IOSYMBOL("Hinge2"), IoODEHinge2_newProto(IOSTATE, self));
  83                 IoObject_inlineSetSlot_to_(self, IOSYMBOL("Universal"), IoODEUniversal_newProto(IOSTATE, self));
  84                 IoObject_inlineSetSlot_to_(self, IOSYMBOL("Fixed"), IoODEFixed_newProto(IOSTATE, self));
  85                 //IoObject_inlineSetSlot_to_(self, IOSYMBOL("AMotor"), IoODEAMotor_newProto(IOSTATE, self));
  86                 //IoObject_inlineSetSlot_to_(self, IOSYMBOL("LMotor"), IoODELMotor_newProto(IOSTATE, self));
  87         }
  88         return self;
  89 }
  90
  91 void IoODEJointGroup_free(IoODEJointGroup *self)
  92 {
  93         if(JOINTGROUPID && WORLD)
  94         {
  95                 IoODEWorld_removeJointGroup(WORLD, self);
  96                 dJointGroupDestroy(JOINTGROUPID);
  97         }
  98         if(DATA(self)->joints)
  99         {
 100                 LIST_FOREACH(DATA(self)->joints, i, joint,
 101                         IoODEJoint_worldDestoryed((IoODEJoint*)joint);
 102                 )
 103                 List_free(DATA(self)->joints);
 104         }
 105         free(IoObject_dataPointer(self));
 106 }
 107
 108 void IoODEJointGroup_mark(IoODEJointGroup *self)
 109 {
 110         if(WORLD)
 111         {
 112                 IoObject_shouldMark((IoObject *)WORLD);
 113         }
 114         if(DATA(self)->joints)
 115         {
 116                 LIST_FOREACH(DATA(self)->joints, i, joint,
 117                         IoObject_shouldMark(joint);
 118                 )
 119         }
 120 }
 121
 122 IoODEJointGroup *IoODEJointGroup_new(void *state)
 123 {
 124         IoODEJointGroup *proto = IoState_protoWithInitFunction_(state, IoODEJointGroup_proto);
 125         return IOCLONE(proto);
 126 }
 127
 128 IoODEJointGroup *IoODEJointGroup_newJointGroupProtoWithWorld(void *state, IoODEWorld *world)
 129 {
 130         IoODEJointGroup *proto = IoState_protoWithInitFunction_(state, IoODEJointGroup_proto);
 131         IoODEJointGroup *self = IOCLONE(proto);
 132         WORLD = world;
 133         return self;
 134 }
 135
 136
 137 /* ----------------------------------------------------------- */
 138
 139 void IoODEJointGroup_worldDestoryed(IoODEJointGroup *self)
 140 {
 141         WORLD = 0L;
 142         JOINTGROUPID = 0;
 143         if(DATA(self)->joints)
 144         {
 145                 LIST_FOREACH(DATA(self)->joints, i, joint,
 146                         IoODEJoint_worldDestoryed((IoODEJoint*)joint);
 147                 )
 148                 List_free(DATA(self)->joints);
 149                 DATA(self)->joints = 0L;
 150         }
 151 }
 152
 153 void IoODEJointGroup_rawEmpty(IoODEJointGroup *self)
 154 {
 155         dJointGroupEmpty(JOINTGROUPID);
 156
 157         LIST_FOREACH(DATA(self)->joints, i, joint,
 158                 IoODEJoint_worldDestoryed((IoODEJoint*)joint);
 159         )
 160         List_removeAll(DATA(self)->joints);
 161 }
 162
 163 dJointGroupID IoODEJointGroup_rawJointGroupId(IoODEJointGroup *self)
 164 {
 165         return JOINTGROUPID;
 166 }
 167
 168 dWorldID IoODEJointGroup_rawWorldId(IoODEJointGroup *self)
 169 {
 170         return WORLDID;
 171 }
 172
 173 void IoODEJointGroup_addJoint(IoODEJointGroup *self, IoODEJoint *joint)
 174 {
 175         List_append_(DATA(self)->joints, joint);
 176 }
 177
 178 void IoODEJointGroup_removeJoint(IoODEJointGroup *self, IoODEJoint *joint)
 179 {
 180         List_remove_(DATA(self)->joints, joint);
 181 }
 182
 183
 184 /* ----------------------------------------------------------- */
 185
 186 void IoODEJointGroup_assertValidJointGroup(IoODEJointGroup *self, IoObject *locals, IoMessage *m)
 187 {
 188         IOASSERT(WORLD, "This ODE JointGroup belongs to an ODE world which has been freed.");
 189         IOASSERT(JOINTGROUPID, "ODE World JointGroup cannot be used directly. Clone the world and use the JointGroup on the cloned world.");
 190 }
 191
 192
 193 IoObject *IoODEJointGroup_jointGroupId(IoODEJointGroup *self, IoObject *locals, IoMessage *m)
 194 {
 195         return IONUMBER((long)JOINTGROUPID);
 196 }
 197
 198 IoObject *IoODEJointGroup_world(IoODEJointGroup *self, IoObject *locals, IoMessage *m)
 199 {
 200         return WORLD ? WORLD : IONIL(self);
 201 }
 202
 203 IoObject *IoODEJointGroup_empty(IoODEJointGroup *self, IoObject *locals, IoMessage *m)
 204 {
 205         IoODEJointGroup_assertValidJointGroup(self, locals, m);
 206         IoODEJointGroup_rawEmpty(self);
 207         return self;
 208 }
 209
 210 IoObject *IoODEJointGroup_joints(IoODEWorld *self, IoObject *locals, IoMessage *m)
 211 {
 212         IoODEJointGroup_assertValidJointGroup(self, locals, m);
 213         {
 214                 IoList *list = IoList_new(IOSTATE);
 215                 IoList_rawAddBaseList_(list, DATA(self)->joints);
 216                 return list;
 217         }
 218 }
 219
 220 IoObject *IoODEJointGroup_createContact(IoODEWorld *self, IoObject *locals, IoMessage *m)
 221 {
 222         dContact *contact = IoMessage_locals_odeContactStructArgAt_(m, locals, 0);
 223         dJointID jointId;
 224
 225         IoODEJointGroup_assertValidJointGroup(self, locals, m);
 226
 227         jointId = dJointCreateContact (WORLDID, JOINTGROUPID, contact);
 228
 229         return IoODEContactJoint_new(IOSTATE, self, jointId);
 230 }