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/JointBall.cpp    | 79 ++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp

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

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
new file mode 100644
index 0000000..d9336c9
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
@@ -0,0 +1,79 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointball.h"
+
+namespace ODEManaged
+{
+	
+	//Constructors
+
+		JointBall::JointBall(void) : Joint(){}
+
+
+		JointBall::JointBall(World &world)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateBall(world.Id(), 0);
+		}
+
+		
+		JointBall::JointBall(World &world, JointGroup &jointGroup)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateBall(world.Id(), jointGroup.Id());
+		}
+
+
+	//Destructor
+
+		JointBall::~JointBall(void){}
+
+
+	//Methods
+
+		//Overloaded Create 
+		void JointBall::Create(World &world, JointGroup &jointGroup)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateBall(world.Id(), jointGroup.Id());
+		}
+
+		void JointBall::Create(World &world)
+		{
+			if(this->_id) dJointDestroy(this->_id);
+			_id = dJointCreateBall(world.Id(), 0);
+		}
+
+
+		//Overloaded Attach
+		void JointBall::Attach(Body &body1, Body &body2)
+		{
+			dJointAttach(this->_id, body1.Id(), body2.Id());
+		}
+
+		void JointBall::Attach(Body &body1)
+		{
+			dJointAttach(this->_id, body1.Id(), 0);
+		}
+
+
+		//SetAnchor
+		void JointBall::SetAnchor(double x, double y ,double z)
+		{
+			dJointSetBallAnchor(this->_id, x, y, z);
+		}
+
+		//GetAnchor
+		Vector3 JointBall::GetAnchor(void)
+		{
+			Vector3 retVal;
+			dVector3 temp;
+			dJointGetBallAnchor(this->_id,temp);
+			retVal.x = temp[0];
+			retVal.y = temp[1];
+			retVal.z = temp[2];
+			return retVal;
+		}
+
+}
-- 
cgit v1.1