contrib/DotNetManaged/JointHinge.h

   1 #pragma once
   2
   3 #include "Joint.h"
   4 #include "CommonMgd.h"
   5
   6 namespace ODEManaged
   7 {
   8         __gc public class JointHinge : public Joint
   9         {
  10         public:
  11
  12                 //Constructors
  13
  14                         JointHinge(void);
  15                         JointHinge(World &world);
  16                         JointHinge(World &world, JointGroup &jointGroup);
  17
  18
  19                 //Destructor
  20
  21                         virtual~JointHinge(void);
  22
  23
  24                 //Methods
  25
  26                         //Overloaded Create
  27                         void Create(World &world, JointGroup &jointGroup);
  28                         void Create(World &world);
  29
  30                         //Overloaded Attach
  31                         void Attach(Body &body1, Body &body2);
  32                         void Attach(Body &body1);
  33
  34                         void SetAnchor(double x, double y, double z);
  35                         Vector3 GetAnchor(void);
  36
  37                         void SetAxis(double x, double y, double z);
  38                         Vector3 GetAxis(void);
  39
  40                         void SetAllMovParams(double LoStop, double HiStop,
  41                                                                  double Velocity, double MaxForce,
  42                                                                  double FudgeFactor, double Bounce,
  43                                                                  double StopERP, double StopCFM);
  44
  45
  46                 //Properties
  47
  48                         //LoStop
  49                         __property double get_LoStop(void)
  50                                 {
  51                                         return dJointGetHingeParam(this->_id, dParamLoStop);
  52                                 }
  53
  54                         __property void set_LoStop(double value)
  55                         {
  56                                 if (value > -3.141592653 && value <= 0)
  57                                         dJointSetHingeParam(this->_id, dParamLoStop, value);
  58                         }
  59
  60
  61                         //HiStop
  62                         __property double get_HiStop(void)
  63                         {
  64                                 return dJointGetHingeParam(this->_id, dParamHiStop);
  65                         }
  66
  67                         __property void set_HiStop(double value)
  68                         {
  69                                 if (value < 3.141592653 && value >= 0)
  70                                         dJointSetHingeParam(this->_id, dParamHiStop, value);
  71                         }
  72
  73
  74                         //Velocity
  75                         __property double get_Velocity(void)
  76                         {
  77                                 return dJointGetHingeParam(this->_id, dParamVel);
  78                         }
  79
  80                         __property void set_Velocity(double value)
  81                         {
  82                                 dJointSetHingeParam(this->_id, dParamVel, value);
  83                         }
  84
  85
  86                         //MaxForce
  87                         __property double get_MaxForce(void)
  88                         {
  89                                 return dJointGetHingeParam(this->_id, dParamFMax);
  90                         }
  91
  92                         __property void set_MaxForce(double value)
  93                         {
  94                                 dJointSetHingeParam(this->_id, dParamFMax, value);
  95                         }
  96
  97
  98                         //FudgeFactor
  99                         __property double get_FudgeFactor(void)
 100                         {
 101                                 return dJointGetHingeParam(this->_id, dParamFudgeFactor);
 102                         }
 103
 104                         __property void set_FudgeFactor(double value)
 105                         {
 106                                 dJointSetHingeParam(this->_id, dParamFudgeFactor, value);
 107                         }
 108
 109
 110                         //Bounce
 111                         __property double get_Bounce(void)
 112                         {
 113                                 return dJointGetHingeParam(this->_id, dParamBounce);
 114                         }
 115
 116                         __property void set_Bounce(double value)
 117                         {
 118                                 dJointSetHingeParam(this->_id, dParamBounce, value);
 119                         }
 120
 121
 122                         //StopERP
 123                         __property double get_StopERP(void)
 124                         {
 125                                 return dJointGetHingeParam(this->_id, dParamStopERP);
 126                         }
 127
 128                         __property void set_StopERP(double value)
 129                         {
 130                                 dJointSetHingeParam(this->_id, dParamStopERP, value);
 131                         }
 132
 133
 134                         //StopCFM
 135                         __property double get_StopCFM(void)
 136                         {
 137                                 return dJointGetHingeParam(this->_id, dParamStopCFM);
 138                         }
 139
 140                         __property void set_StopCFM(double value)
 141                         {
 142                                 dJointSetHingeParam(this->_id, dParamStopCFM, value);
 143                         }
 144
 145
 146                         //GetAngle
 147                         __property double get_Angle(void)
 148                         {
 149                                 return dJointGetHingeAngle(this->_id);
 150                         }
 151
 152
 153                         //GetAngleRate
 154                         __property double get_AngleRate(void)
 155                         {
 156                                 return dJointGetHingeAngleRate(this->_id);
 157                         }
 158
 159         };
 160
 161 }
 162
 163 //                              void    SetSuspensionERP(double value);
 164 //                              double  GetSuspensionERP(void);
 165
 166 //                              void    SetSuspensionCFM(double value);
 167 //                              double  GetSuspensionCFM(void);
 168
 169 /*
 170                         //SetSuspensionERP
 171                         void JointHinge::SetSuspensionERP(double value)
 172                         {
 173                                 dJointSetHingeParam(this->_id, dParamSuspensionERP, value);
 174                         }
 175
 176                         //GetSuspensionERP
 177                         double JointHinge::GetSuspensionERP(void)
 178                         {
 179                                 return dJointGetHingeParam(this->_id, dParamSuspensionERP);
 180                         }
 181
 182
 183                         //SetSuspensionCFM
 184                         void JointHinge::SetSuspensionCFM(double value)
 185                         {
 186                                 dJointSetHingeParam(this->_id, dParamSuspensionCFM, value);
 187                         }
 188
 189                         //GetSuspensionCFM
 190                         double JointHinge::GetSuspensionCFM(void)
 191                         {
 192                                 return dJointGetHingeParam(this->_id, dParamSuspensionCFM);
 193                         }
 194
 195 */