addons/ODE/source/IoODEHinge.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 "IoODEHinge.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 *IoODEHinge_newTag(void *state)
  19 {
  20         IoTag *tag = IoTag_newWithName_("ODEHinge");
  21         IoTag_state_(tag, state);
  22         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODEHinge_free);
  23         IoTag_markFunc_(tag, (IoTagMarkFunc *)IoODEHinge_mark);
  24         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODEHinge_rawClone);
  25         return tag;
  26 }
  27
  28 IoODEHinge *IoODEHinge_proto(void *state)
  29 {
  30         IoObject *self = IoObject_new(state);
  31         IoObject_tag_(self, IoODEHinge_newTag(state));
  32
  33         IoODEJoint_protoCommon(self);
  34
  35         IoState_registerProtoWithFunc_(state, self, IoODEHinge_proto);
  36
  37         {
  38                 IoMethodTable methodTable[] = {
  39                 ODE_COMMON_JOINT_METHODS
  40 #define PARAM(X, _N, _SETN) \
  41                 {#_N, IoODEHinge_##_N}, \
  42                 {#_SETN, IoODEHinge_##_SETN},
  43 PARAMS
  44 #undef PARAM
  45
  46                 {"anchor", IoODEHinge_anchor},
  47                 {"setAnchor", IoODEHinge_setAnchor},
  48                 {"anchor2", IoODEHinge_anchor2},
  49                 {"axis", IoODEHinge_axis},
  50                 {"setAxis", IoODEHinge_setAxis},
  51                 {"angle", IoODEHinge_angle},
  52                 {"angleRate", IoODEHinge_angleRate},
  53                 {"addTorque", IoODEHinge_addTorque},
  54
  55                 {NULL, NULL},
  56                 };
  57                 IoObject_addMethodTable_(self, methodTable);
  58         }
  59         return self;
  60 }
  61
  62 IoODEHinge *IoODEHinge_rawClone(IoODEHinge *proto)
  63 {
  64         IoObject *self = IoODEJoint_rawClone(proto);
  65
  66         if(DATA(proto)->jointGroup)
  67         {
  68                 IoODEJointGroup *jointGroup = DATA(proto)->jointGroup;
  69
  70                 JOINTGROUP = jointGroup;
  71                 IoODEJointGroup_addJoint(jointGroup, self);
  72                 JOINTID = dJointCreateHinge(WORLDID, JOINTGROUPID);
  73         }
  74         return self;
  75 }
  76
  77 void IoODEHinge_free(IoODEHinge *self)
  78 {
  79         IoODEJoint_free(self);
  80 }
  81
  82 void IoODEHinge_mark(IoODEHinge *self)
  83 {
  84         IoODEJoint_mark(self);
  85 }
  86
  87 IoODEJoint *IoODEHinge_newProto(void *state, IoODEJointGroup *jointGroup)
  88 {
  89         return IoODEJoint_newProtoCommon(state, IoODEHinge_proto, jointGroup);
  90 }
  91
  92 /* ----------------------------------------------------------- */
  93
  94
  95 IoObject *IoODEHinge_getParam(IoODEHinge *self, IoObject *locals, IoMessage *m, int parameter)
  96 {
  97         return IoODEJoint_getParam(self, locals, m, parameter, dJointGetHingeParam);
  98 }
  99
 100 IoObject *IoODEHinge_setParam(IoODEHinge *self, IoObject *locals, IoMessage *m, int parameter)
 101 {
 102         return IoODEJoint_setParam(self, locals, m, parameter, dJointSetHingeParam);
 103 }
 104
 105 #define PARAM(X, _N, _SETN) \
 106 IoObject *IoODEHinge_##_N(IoODEHinge *self, IoObject *locals, IoMessage *m) \
 107 { \
 108         return IoODEHinge_getParam(self, locals, m, X); \
 109 } \
 110  \
 111 IoObject *IoODEHinge_##_SETN(IoODEHinge *self, IoObject *locals, IoMessage *m) \
 112 { \
 113         return IoODEHinge_setParam(self, locals, m, X); \
 114 }
 115 PARAMS
 116 #undef PARAM
 117
 118 IoObject *IoODEHinge_anchor(IoODEHinge *self, IoObject *locals, IoMessage *m)
 119 {
 120         return IoODEJoint_getVector3(self, locals, m, dJointGetHingeAnchor);
 121 }
 122
 123 IoObject *IoODEHinge_anchor2(IoODEHinge *self, IoObject *locals, IoMessage *m)
 124 {
 125         return IoODEJoint_getVector3(self, locals, m, dJointGetHingeAnchor2);
 126 }
 127
 128 IoObject *IoODEHinge_axis(IoODEHinge *self, IoObject *locals, IoMessage *m)
 129 {
 130         return IoODEJoint_getVector3(self, locals, m, dJointGetHingeAxis);
 131 }
 132
 133 IoObject *IoODEHinge_angle(IoODEHinge *self, IoObject *locals, IoMessage *m)
 134 {
 135         return IoODEJoint_getReal(self, locals, m, dJointGetHingeAngle);
 136 }
 137
 138 IoObject *IoODEHinge_angleRate(IoODEHinge *self, IoObject *locals, IoMessage *m)
 139 {
 140         return IoODEJoint_getReal(self, locals, m, dJointGetHingeAngleRate);
 141 }
 142
 143
 144 IoObject *IoODEHinge_setAnchor(IoODEHinge *self, IoObject *locals, IoMessage *m)
 145 {
 146         return IoODEJoint_setVector3(self, locals, m, dJointSetHingeAnchor);
 147 }
 148
 149 IoObject *IoODEHinge_setAxis(IoODEHinge *self, IoObject *locals, IoMessage *m)
 150 {
 151         return IoODEJoint_setVector3(self, locals, m, dJointSetHingeAxis);
 152 }
 153
 154 IoObject *IoODEHinge_addTorque(IoODEHinge *self, IoObject *locals, IoMessage *m)
 155 {
 156         return IoODEJoint_setReal(self, locals, m, dJointAddHingeTorque);
 157 }
 158