addons/ODE/source/IoODEUniversal.c

   1 /*#io
   2 ODEJoint ioDoc(
   3                  docCopyright("Jonathan Wright", 2006)
   4                  docLicense("BSD revised")
   5                  docDescription("ODEJoint binding")
   6                  */
   7
   8 #include "IoODEJoint_internal.h"
   9 #include "IoODEUniversal.h"
  10 #include "IoODEBody.h"
  11 #include "IoState.h"
  12 #include "IoSeq.h"
  13 #include "IoVector_ode.h"
  14 #include "GLIncludes.h"
  15
  16 /* ----------------------------------------------------------- */
  17
  18 IoTag *IoODEUniversal_newTag(void *state)
  19 {
  20         IoTag *tag = IoTag_newWithName_("ODEUniversal");
  21         IoTag_state_(tag, state);
  22         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODEUniversal_free);
  23         IoTag_markFunc_(tag, (IoTagMarkFunc *)IoODEUniversal_mark);
  24         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODEUniversal_rawClone);
  25         return tag;
  26 }
  27
  28 IoODEUniversal *IoODEUniversal_proto(void *state)
  29 {
  30         IoObject *self = IoObject_new(state);
  31         IoObject_tag_(self, IoODEUniversal_newTag(state));
  32
  33         IoODEJoint_protoCommon(self);
  34
  35         IoState_registerProtoWithFunc_(state, self, IoODEUniversal_proto);
  36
  37         {
  38                 IoMethodTable methodTable[] = {
  39                 ODE_COMMON_JOINT_METHODS
  40 #define PARAM(X, _N, _SETN) \
  41                 {#_N, IoODEUniversal_##_N}, \
  42                 {#_SETN, IoODEUniversal_##_SETN},
  43 PARAMS
  44 #undef PARAM
  45
  46                 {"anchor", IoODEUniversal_anchor},
  47                 {"setAnchor", IoODEUniversal_setAnchor},
  48                 {"anchor2", IoODEUniversal_anchor2},
  49                 {"axis1", IoODEUniversal_axis1},
  50                 {"setAxis1", IoODEUniversal_setAxis1},
  51                 {"axis2", IoODEUniversal_axis2},
  52                 {"setAxis2", IoODEUniversal_setAxis2},
  53                 {"angle1", IoODEUniversal_angle1},
  54                 {"angle2", IoODEUniversal_angle2},
  55                 {"angle1Rate", IoODEUniversal_angle1Rate},
  56                 {"angle2Rate", IoODEUniversal_angle2Rate},
  57                 {"addTorques", IoODEUniversal_addTorques},
  58
  59                 {NULL, NULL},
  60                 };
  61                 IoObject_addMethodTable_(self, methodTable);
  62         }
  63         return self;
  64 }
  65
  66 IoODEUniversal *IoODEUniversal_rawClone(IoODEUniversal *proto)
  67 {
  68         IoObject *self = IoODEJoint_rawClone(proto);
  69
  70         if(DATA(proto)->jointGroup)
  71         {
  72                 IoODEJointGroup *jointGroup = DATA(proto)->jointGroup;
  73
  74                 JOINTGROUP = jointGroup;
  75                 IoODEJointGroup_addJoint(jointGroup, self);
  76                 JOINTID = dJointCreateUniversal(WORLDID, JOINTGROUPID);
  77         }
  78         return self;
  79 }
  80
  81 void IoODEUniversal_free(IoODEUniversal *self)
  82 {
  83         IoODEJoint_free(self);
  84 }
  85
  86 void IoODEUniversal_mark(IoODEUniversal *self)
  87 {
  88         IoODEJoint_mark(self);
  89 }
  90
  91 IoODEJoint *IoODEUniversal_newProto(void *state, IoODEJointGroup *jointGroup)
  92 {
  93         return IoODEJoint_newProtoCommon(state, IoODEUniversal_proto, jointGroup);
  94 }
  95
  96 /* ----------------------------------------------------------- */
  97
  98
  99 IoObject *IoODEUniversal_getParam(IoODEUniversal *self, IoObject *locals, IoMessage *m, int parameter)
 100 {
 101         return IoODEJoint_getParam(self, locals, m, parameter, dJointGetUniversalParam);
 102 }
 103
 104 IoObject *IoODEUniversal_setParam(IoODEUniversal *self, IoObject *locals, IoMessage *m, int parameter)
 105 {
 106         return IoODEJoint_setParam(self, locals, m, parameter, dJointSetUniversalParam);
 107 }
 108
 109 #define PARAM(X, _N, _SETN) \
 110 IoObject *IoODEUniversal_##_N(IoODEUniversal *self, IoObject *locals, IoMessage *m) \
 111 { \
 112         return IoODEUniversal_getParam(self, locals, m, X); \
 113 } \
 114  \
 115 IoObject *IoODEUniversal_##_SETN(IoODEUniversal *self, IoObject *locals, IoMessage *m) \
 116 { \
 117         return IoODEUniversal_setParam(self, locals, m, X); \
 118 }
 119 PARAMS
 120 #undef PARAM
 121
 122 IoObject *IoODEUniversal_anchor(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 123 {
 124         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAnchor);
 125 }
 126
 127 IoObject *IoODEUniversal_anchor2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 128 {
 129         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAnchor2);
 130 }
 131
 132 IoObject *IoODEUniversal_axis1(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 133 {
 134         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAxis1);
 135 }
 136
 137 IoObject *IoODEUniversal_axis2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 138 {
 139         return IoODEJoint_getVector3(self, locals, m, dJointGetUniversalAxis2);
 140 }
 141
 142 IoObject *IoODEUniversal_angle1(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 143 {
 144         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle1);
 145 }
 146
 147 IoObject *IoODEUniversal_angle2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 148 {
 149         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle2);
 150 }
 151
 152 IoObject *IoODEUniversal_angle1Rate(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 153 {
 154         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle1Rate);
 155 }
 156
 157 IoObject *IoODEUniversal_angle2Rate(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 158 {
 159         return IoODEJoint_getReal(self, locals, m, dJointGetUniversalAngle2Rate);
 160 }
 161
 162
 163 IoObject *IoODEUniversal_setAnchor(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 164 {
 165         return IoODEJoint_setVector3(self, locals, m, dJointSetUniversalAnchor);
 166 }
 167
 168 IoObject *IoODEUniversal_setAxis1(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 169 {
 170         return IoODEJoint_setVector3(self, locals, m, dJointSetUniversalAxis1);
 171 }
 172
 173 IoObject *IoODEUniversal_setAxis2(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 174 {
 175         return IoODEJoint_setVector3(self, locals, m, dJointSetUniversalAxis2);
 176 }
 177
 178 IoObject *IoODEUniversal_addTorques(IoODEUniversal *self, IoObject *locals, IoMessage *m)
 179 {
 180         return IoODEJoint_setReal2(self, locals, m, dJointAddUniversalTorques);
 181 }
 182