source: code/branches/ode/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp @ 216

#include "StdAfx.h"

#include <ode/ode.h>
#include "JointAMotor.h"

namespace ODEManaged
{

        //Constructors

                JointAMotor::JointAMotor(void) : Joint(){}


                JointAMotor::JointAMotor(World &world)
                {
                        if(this->_id) dJointDestroy(this->_id);
                        _id = dJointCreateAMotor(world.Id(), 0);
                }

                
                JointAMotor::JointAMotor(World &world, JointGroup &jointGroup)
                {
                        if(this->_id) dJointDestroy(this->_id);
                        _id = dJointCreateAMotor(world.Id(), jointGroup.Id());
                }


        //Destructor

                JointAMotor::~JointAMotor(void){}


        //Methods

                //Overloaded Create 
                        void JointAMotor::Create(World &world, JointGroup &jointGroup)
                        {
                                if(this->_id) dJointDestroy(this->_id);
                                _id = dJointCreateAMotor(world.Id(), jointGroup.Id());
                        }

                        void JointAMotor::Create(World &world)
                        {
                                if(this->_id) dJointDestroy(this->_id);
                                _id = dJointCreateAMotor(world.Id(), 0);
                        }


                //Overloaded Attach
                        void JointAMotor::Attach(Body &body1, Body &body2)
                        {
                                dJointAttach(this->_id, body1.Id(), body2.Id());
                        }

                        void JointAMotor::Attach(Body &body1)
                        {
                                dJointAttach(this->_id, body1.Id(), 0);
                        }


                //SetNumAxes

                        void JointAMotor::SetNumAxes(int num)
                        {
                                dJointSetAMotorNumAxes(this->_id, num);
                        }


                //GetNumAxes

                        int JointAMotor::GetNumAxes(void)
                        {
                                return dJointGetAMotorNumAxes(this->_id);
                        }


                //SetAxis

                        void JointAMotor::SetAxis(int anum, int rel, double x, double y ,double z)
                        {
                                dJointSetAMotorAxis(this->_id, anum, rel, x, y, z);
                        }


                //GetAxis

                        Vector3 JointAMotor::GetAxis(int anum)
                        {
                                Vector3 retVal;
                                dVector3 temp;
                                dJointGetAMotorAxis(this->_id, anum, temp);
                                retVal.x = temp[0];
                                retVal.y = temp[1];
                                retVal.z = temp[2];
                                return retVal;
                        }


                //SetAngle

                        void JointAMotor::SetAngle(int anum, double angle)
                        {
                                dJointSetAMotorAngle(this->_id, anum, angle);
                        }


                //GetAngle

                        double JointAMotor::GetAngle(int anum)
                        {
                                return dJointGetAMotorAngle(this->_id, anum);
                        }


                //SetParam

                        void JointAMotor::SetParam(int parameter, double value)
                        {
                                dJointSetAMotorParam(this->_id, parameter, value);
                        }


                //GetParam

                        double JointAMotor::GetParam(int parameter)
                        {
                                return dJointGetAMotorParam(this->_id, parameter);
                        }


                //SetMode

                        void JointAMotor::SetMode(int mode)
                        {
                                dJointSetAMotorMode(this->_id, mode);
                        }


                //GetMode

                        int JointAMotor::GetMode(void)
                        {
                                return dJointGetAMotorMode(this->_id);
                        }


                //GetAxisRel

                        int JointAMotor::GetAxisRel(int anum)
                        {
                                return dJointGetAMotorAxisRel(this->_id, anum);
                        }


                //GetAngleRate

                        double JointAMotor::GetAngleRate(int anum)
                        {
                                return dJointGetAMotorAngleRate(this->_id, anum);
                        }

}