addons/ODE/source/IoODEUniversal.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 "IoODEUniversal.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 *IoODEUniversal_newTag(void *state)
  18 {
  19         IoTag *tag = IoTag_newWithName_("ODEUniversal");
  20         IoTag_state_(tag, state);
  21         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODEUniversal_free);
  22         IoTag_markFunc_(tag, (IoTagMarkFunc *)IoODEUniversal_mark);
  23         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODEUniversal_rawClone);
  24         return tag;
  25 }
  26
  27 IoODEUniversal *IoODEUniversal_proto(void *state)
  28 {
  29         IoObject *self = IoObject_new(state);
  30         IoObject_tag_(self, IoODEUniversal_newTag(state));
  31
  32         IoODEJoint_protoCommon(self);
  33
  34         IoState_registerProtoWithFunc_(state, self, IoODEUniversal_proto);
  35
  36         {
  37                 IoMethodTable methodTable[] = {
  38                                 ODE_COMMON_JOINT_METHODS
  39 #define PARAM(X, _N, _SETN) \
  40                 {#_N, IoODEUniversal_##_N}, \
  41                 {#_SETN, IoODEUniversal_##_SETN},
  42 PARAMS
  43 #undef PARAM
  44
  45                 {"anchor", IoODEUniversal_anchor},
  46                                 {"setAnchor", IoODEUniversal_setAnchor},
  47                 {"anchor2", IoODEUniversal_anchor2},
  48                 {"axis1", IoODEUniversal_axis1},
  49                                 {"setAxis1", IoODEUniversal_setAxis1},
  50                 {"axis2", IoODEUniversal_axis2},
  51                                 {"setAxis2", IoODEUniversal_setAxis2},
  52                 {"angle1", IoODEUniversal_angle1},
  53                 {"angle2", IoODEUniversal_angle2},
  54                 {"angle1Rate", IoODEUniversal_angle1Rate},
  55                 {"angle2Rate", IoODEUniversal_angle2Rate},
  56                                 {"addTorques", IoODEUniversal_addTorques},
  57
  58                 {NULL, NULL},
  59                 };
  60                 IoObject_addMethodTable_(self, methodTable);
  61         }
  62         return self;
  63 }
  64
  65 IoODEUniversal *IoODEUniversal_rawClone(IoODEUniversal *proto)
  66 {
  67         IoObject *self = IoODEJoint_rawClone(proto);
  68
  69         if(DATA(proto)->jointGroup)
  70         {
  71                 IoODEJointGroup *jointGroup = DATA(proto)->jointGroup;
  72
  73                 JOINTGROUP = jointGroup;
  74                 IoODEJointGroup_addJoint(jointGroup, self);
  75                 JOINTID = dJointCreateUniversal(WORLDID, JOINTGROUPID);
  76         }
  77         return self;
  78 }
  79
  80 void IoODEUniversal_free(IoODEUniversal *self)
  81 {
  82         IoODEJoint_free(self);
  83 }
  84
  85 void IoODEUniversal_mark(IoODEUniversal *self)
  86 {
  87         IoODEJoint_mark(self);
  88 }
  89
  90 IoODEJoint *IoODEUniversal_newProto(void *state, IoODEJointGroup *jointGroup)
  91 {
  92         return IoODEJoint_newProtoCommon(state, IoODEUniversal_proto, jointGroup);
  93 }
  94
  95 /* ----------------------------------------------------------- */
  96
  97
  98 IoObject *IoODEUniversal_getParam(IoODEUniversal *self, IoObject *locals, IoMessage *m, int parameter)
  99 {
 100         return IoODEJoint_getParam(self, locals, m, parameter, dJointGetUniversalParam);
 101 }
 102
 103 IoObject *IoODEUniversal_setParam(IoODEUniversal *self, IoObject *locals, IoMessage *m, int parameter)
 104 {
 105         return IoODEJoint_setParam(self, locals, m, parameter, dJointSetUniversalParam);
 106 }
 107
 108 #define PARAM(X, _N, _SETN) \
 109 IoObject *IoODEUniversal_##_N(IoODEUniversal *self, IoObject *locals, IoMessage *m) \
 110 { \
 111         return IoODEUniversal_getParam(self, locals, m, X); \
 112 } \
 113  \
 114 IoObject *IoODEUniversal_##_SETN(IoODEUniversal *self, IoObject *locals, IoMessage *m) \
 115 { \
 116         return IoODEUniversal_setParam(self, locals, m, X); \
 117 }
 118 PARAMS
 119 #undef PARAM
 120
 121 IoObject *IoODEUniversal_anchor(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 122 {
 123         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAnchor);
 124 }
 125
 126 IoObject *IoODEUniversal_anchor2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 127 {
 128         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAnchor2);
 129 }
 130
 131 IoObject *IoODEUniversal_axis1(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 132 {
 133         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAxis1);
 134 }
 135
 136 IoObject *IoODEUniversal_axis2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 137 {
 138         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAxis2);
 139 }
 140
 141 IoObject *IoODEUniversal_angle1(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 142 {
 143         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle1);
 144 }
 145
 146 IoObject *IoODEUniversal_angle2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 147 {
 148         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle2);
 149 }
 150
 151 IoObject *IoODEUniversal_angle1Rate(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 152 {
 153         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle1Rate);
 154 }
 155
 156 IoObject *IoODEUniversal_angle2Rate(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 157 {
 158         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle2Rate);
 159 }
 160
 161
 162 IoObject *IoODEUniversal_setAnchor(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 163 {
 164         return IoODEJoint_setVector3(self, locals, m, dJointSetUniversalAnchor);
 165 }
 166
 167 IoObject *IoODEUniversal_setAxis1(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 168 {
 169         return IoODEJoint_setVector3(self, locals, m, dJointSetUniversalAxis1);
 170 }
 171
 172 IoObject *IoODEUniversal_setAxis2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 173 {
 174         return IoODEJoint_setVector3(self, locals, m, dJointSetUniversalAxis2);
 175 }
 176
 177 IoObject *IoODEUniversal_addTorques(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 178 {
 179         return IoODEJoint_setReal2(self, locals, m, dJointAddUniversalTorques);
 180 }
 181