source: code/branches/ode/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp @ 216

#include "StdAfx.h"

#include <ode/ode.h>
#include "jointhinge2.h"

namespace ODEManaged
{
        //Constructors
        JointHinge2::JointHinge2(void) : Joint(){}

        JointHinge2::JointHinge2(World &world)
        {
                if(this->_id) dJointDestroy(this->_id);
                _id = dJointCreateHinge2(world.Id(),0);
        }
        
        JointHinge2::JointHinge2(World &world, JointGroup &jointGroup)
        {
                if(this->_id) dJointDestroy(this->_id);
                _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
        }

        //Destructor
        JointHinge2::~JointHinge2(void){}

        //CreateHinge2 (overload 1)
        void JointHinge2::Create(World &world, JointGroup &jointGroup)
        {
                if(this->_id) dJointDestroy(this->_id);
                _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
        }

        //CreateHinge2 (overload 2)
        void JointHinge2::Create(World &world)
        {
                if(this->_id) dJointDestroy(this->_id);
                _id = dJointCreateHinge2(world.Id(),0);
        }

        //SetAnchor1
        void JointHinge2::SetAnchor (double x, double y ,double z)
        {
                dJointSetHinge2Anchor(_id, x,y,z);
        }

        //GetAnchor1
        Vector3 JointHinge2::GetAnchor()
        {
                Vector3 retVal;
                dVector3 temp;
                dJointGetHinge2Anchor(_id,temp);
                retVal.x = temp[0];
                retVal.y = temp[1];
                retVal.z = temp[2];
                return retVal;
        }

        //SetAxis1
        void JointHinge2::SetAxis1 (double x, double y ,double z)
        {
                dJointSetHinge2Axis1(_id, x,y,z);
        }

        //GetAxis1
        Vector3 JointHinge2::GetAxis1()
        {
                Vector3 retVal;
                dVector3 temp;
                dJointGetHinge2Axis1(_id,temp);
                retVal.x = temp[0];
                retVal.y = temp[1];
                retVal.z = temp[2];
                return retVal;
        }

        //SetAxis2
        void JointHinge2::SetAxis2 (double x, double y ,double z)
        {
                dJointSetHinge2Axis2(_id, x,y,z);
        }

        //GetAxis2
        Vector3 JointHinge2::GetAxis2()
        {
                Vector3 retVal;
                dVector3 temp;
                dJointGetHinge2Axis2(_id,temp);
                retVal.x = temp[0];
                retVal.y = temp[1];
                retVal.z = temp[2];
                return retVal;
        }

        //GetAngle1
        double JointHinge2::GetAngle1 ()
        {
                return dJointGetHinge2Angle1(this->_id);
        }

        //GetAngle1Rate
        double JointHinge2::GetAngle1Rate ()
        {
                return dJointGetHinge2Angle1Rate(this->_id);
        }

        ////GetAngle hmm, this doesn't exist
        //double JointHinge2::GetAngle2 ()
        //{
        //      return dJointGetHinge2Angle2(this->_id);
        //}

        //GetAngle2Rate
        double JointHinge2::GetAngle2Rate ()
        {
                return dJointGetHinge2Angle2Rate(this->_id);
        }


        //Attach (overload 1)
        void JointHinge2::Attach (Body &body1, Body &body2)
        {
                dJointAttach(_id, body1.Id(),body2.Id());
        }

        //Attach (overload 2) 
        //TODO: possibly add an overload that takes anchor as a param also.
        void JointHinge2::Attach (Body &body1)
        {
                dJointAttach(_id, body1.Id(),0);
        }


}