resubmitting ode

1 files changed, 162 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
new file mode 100644
index 0000000..c5a4543
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
@@ -0,0 +1,162 @@
+#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);
+                        }
+
+}