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

#include "stdafx.h"

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

namespace ODEManaged
{

        //Constructors

                JointHinge::JointHinge(void) : Joint(){}


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

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


        //Destructor

                JointHinge::~JointHinge(void){}


        //Methods

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

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


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

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


                //SetAxis
                void JointHinge::SetAxis(double x, double y, double z)
                {
                        dJointSetHingeAxis(this->_id, x, y, z);
                }

                //GetAxis
                Vector3 JointHinge::GetAxis(void)
                {
                        Vector3 retVal;
                        dVector3 temp;
                        dJointGetHingeAxis(this->_id, temp);
                        retVal.x = temp[0];
                        retVal.y = temp[1];
                        retVal.z = temp[2];
                        return retVal;
                }


                //SetAnchor
                void JointHinge::SetAnchor(double x, double y, double z)
                {
                        dJointSetHingeAnchor(this->_id, x, y, z);
                }

                //GetAnchor
                Vector3 JointHinge::GetAnchor(void)
                {
                        Vector3 retVal;
                        dVector3 temp;
                        dJointGetHingeAnchor(this->_id, temp);
                        retVal.x = temp[0];
                        retVal.y = temp[1];
                        retVal.z = temp[2];
                        return retVal;
                }


        //Movement Parameters

                //SetAllMovParams
                void JointHinge::SetAllMovParams(double LoStop, double HiStop,
                                                                                 double Velocity, double MaxForce,
                                                                                 double FudgeFactor, double Bounce,
                                                                                 double StopERP, double StopCFM)
                {
                        if (LoStop > -3.141592653 && LoStop <= 0) 
                                dJointSetHingeParam(this->_id, dParamLoStop, LoStop);

                        if (HiStop < 3.141592653 && HiStop >= 0)
                                dJointSetHingeParam(this->_id, dParamHiStop, HiStop);

                        dJointSetHingeParam(this->_id, dParamVel, Velocity);
                        dJointSetHingeParam(this->_id, dParamFMax, MaxForce);
                        dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor);
                        dJointSetHingeParam(this->_id, dParamBounce, Bounce);
                        dJointSetHingeParam(this->_id, dParamStopERP, StopERP);
                        dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM);
                }
                                
}