contrib/DotNetManaged/JointHinge.cpp

   1 #include "stdafx.h"
   2
   3 #include <ode/ode.h>
   4 #include "jointhinge.h"
   5
   6 namespace ODEManaged
   7 {
   8
   9         //Constructors
  10
  11                 JointHinge::JointHinge(void) : Joint(){}
  12
  13
  14                 JointHinge::JointHinge(World &world)
  15                 {
  16                         if(this->_id) dJointDestroy(this->_id);
  17                         _id = dJointCreateHinge(world.Id(), 0);
  18                 }
  19
  20
  21                 JointHinge::JointHinge(World &world, JointGroup &jointGroup)
  22                 {
  23                         if(this->_id) dJointDestroy(this->_id);
  24                         _id = dJointCreateHinge(world.Id(), jointGroup.Id());
  25                 }
  26
  27
  28         //Destructor
  29
  30                 JointHinge::~JointHinge(void){}
  31
  32
  33         //Methods
  34
  35                 //Overloaded Create
  36                 void JointHinge::Create(World &world, JointGroup &jointGroup)
  37                 {
  38                         if(this->_id) dJointDestroy(this->_id);
  39                         _id = dJointCreateHinge(world.Id(), jointGroup.Id());
  40                 }
  41
  42                 void JointHinge::Create(World &world)
  43                 {
  44                         if(this->_id) dJointDestroy(this->_id);
  45                         _id = dJointCreateHinge(world.Id(), 0);
  46                 }
  47
  48
  49                 //Overloaded Attach
  50                 void JointHinge::Attach(Body &body1, Body &body2)
  51                 {
  52                         dJointAttach(this->_id, body1.Id(), body2.Id());
  53                 }
  54
  55                 void JointHinge::Attach(Body &body1)
  56                 {
  57                         dJointAttach(this->_id, body1.Id(), 0);
  58                 }
  59
  60
  61                 //SetAxis
  62                 void JointHinge::SetAxis(double x, double y, double z)
  63                 {
  64                         dJointSetHingeAxis(this->_id, x, y, z);
  65                 }
  66
  67                 //GetAxis
  68                 Vector3 JointHinge::GetAxis(void)
  69                 {
  70                         Vector3 retVal;
  71                         dVector3 temp;
  72                         dJointGetHingeAxis(this->_id, temp);
  73                         retVal.x = temp[0];
  74                         retVal.y = temp[1];
  75                         retVal.z = temp[2];
  76                         return retVal;
  77                 }
  78
  79
  80                 //SetAnchor
  81                 void JointHinge::SetAnchor(double x, double y, double z)
  82                 {
  83                         dJointSetHingeAnchor(this->_id, x, y, z);
  84                 }
  85
  86                 //GetAnchor
  87                 Vector3 JointHinge::GetAnchor(void)
  88                 {
  89                         Vector3 retVal;
  90                         dVector3 temp;
  91                         dJointGetHingeAnchor(this->_id, temp);
  92                         retVal.x = temp[0];
  93                         retVal.y = temp[1];
  94                         retVal.z = temp[2];
  95                         return retVal;
  96                 }
  97
  98
  99         //Movement Parameters
 100
 101                 //SetAllMovParams
 102                 void JointHinge::SetAllMovParams(double LoStop, double HiStop,
 103                                                                                  double Velocity, double MaxForce,
 104                                                                                  double FudgeFactor, double Bounce,
 105                                                                                  double StopERP, double StopCFM)
 106                 {
 107                         if (LoStop > -3.141592653 && LoStop <= 0)
 108                                 dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
 109
 110                         if (HiStop < 3.141592653 && HiStop >= 0)
 111                                 dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
 112
 113                         dJointSetHingeParam(this->_id, dParamVel, Velocity);
 114                         dJointSetHingeParam(this->_id, dParamFMax, MaxForce);
 115                         dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor);
 116                         dJointSetHingeParam(this->_id, dParamBounce, Bounce);
 117                         dJointSetHingeParam(this->_id, dParamStopERP, StopERP);
 118                         dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM);
 119                 }
 120
 121 }