From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:48 +0000
Subject: one more for the gipper

---
 .../ode-0.9/contrib/DotNetManaged/JointSlider.cpp  | 102 +++++++++++++++++++++
 1 file changed, 102 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp

(limited to 'libraries/ode-0.9\/contrib/DotNetManaged/JointSlider.cpp')

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
new file mode 100644
index 0000000..ab7ebd6
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
@@ -0,0 +1,102 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointslider.h"
+
+namespace ODEManaged
+{
+	
+	//Constructors
+	
+		JointSlider::JointSlider(void) : Joint(){}
+
+
+		JointSlider::JointSlider(World &world)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateSlider(world.Id(), 0);
+		}
+
+
+		JointSlider::JointSlider(World &world, JointGroup &jointGroup)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateSlider(world.Id(), jointGroup.Id());
+		}
+
+
+	//Destructor
+
+		JointSlider::~JointSlider(void){}
+
+
+	//Methods
+
+		//Overloaded Create
+		void JointSlider::Create(World &world, JointGroup &jointGroup)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateSlider(world.Id(), jointGroup.Id());
+		}
+
+		void JointSlider::Create(World &world)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateSlider(world.Id(), 0);
+		}
+
+		
+		//Overloaded Attach 
+		void JointSlider::Attach(Body &body1, Body &body2)
+		{
+			dJointAttach(this->_id, body1.Id(), body2.Id());
+		}
+
+		void JointSlider::Attach(Body &body1)
+		{
+			dJointAttach(this->_id, body1.Id(), 0);
+		}
+
+
+		//SetAxis
+		void JointSlider::SetAxis(double x, double y, double z)
+		{
+			dJointSetSliderAxis(this->_id, x, y, z);
+		}
+
+		//GetAxis
+		Vector3 JointSlider::GetAxis(void)
+		{
+			Vector3 retVal;
+			dVector3 temp;
+			dJointGetSliderAxis(this->_id, temp);
+			retVal.x = temp[0];
+			retVal.y = temp[1];
+			retVal.z = temp[2];
+			return retVal;
+		}
+
+
+	//Movement Parameters
+
+		//SetAllMovParams
+		void JointSlider::SetAllMovParams(double LoStop, double HiStop,
+										  double Velocity, double MaxForce,
+										  double FudgeFactor, double Bounce,
+										  double StopERP, double StopCFM)
+		{
+			if (LoStop <= 0) 
+				dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
+
+			if (HiStop >= 0)
+				dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
+
+			dJointSetSliderParam(this->_id, dParamVel, Velocity);
+			dJointSetSliderParam(this->_id, dParamFMax, MaxForce);
+			dJointSetSliderParam(this->_id, dParamFudgeFactor, FudgeFactor);
+			dJointSetSliderParam(this->_id, dParamBounce, Bounce);
+			dJointSetSliderParam(this->_id, dParamStopERP, StopERP);
+			dJointSetSliderParam(this->_id, dParamStopCFM, StopCFM);
+		}
+
+}
-- 
cgit v1.1