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#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);
}
}
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