one more for the gipper

1 files changed, 121 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
new file mode 100644
index 0000000..85d420b
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
@@ -0,0 +1,121 @@
+#include "stdafx.h"
+
+#include <ode/ode.h>
+#include "jointhinge.h"
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                JointHinge::JointHinge(void) : Joint(){}
+
+
+                JointHinge::JointHinge(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), 0);
+                }
+
+                
+                JointHinge::JointHinge(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), jointGroup.Id());
+                }
+
+
+        //Destructor
+
+                JointHinge::~JointHinge(void){}
+
+
+        //Methods
+
+                //Overloaded Create 
+                void JointHinge::Create(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), jointGroup.Id());
+                }
+
+                void JointHinge::Create(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), 0);
+                }
+
+
+                //Overloaded Attach 
+                void JointHinge::Attach(Body &body1, Body &body2)
+                {
+                        dJointAttach(this->_id, body1.Id(), body2.Id());
+                }
+
+                void JointHinge::Attach(Body &body1)
+                {
+                        dJointAttach(this->_id, body1.Id(), 0);
+                }
+
+
+                //SetAxis
+                void JointHinge::SetAxis(double x, double y, double z)
+                {
+                        dJointSetHingeAxis(this->_id, x, y, z);
+                }
+
+                //GetAxis
+                Vector3 JointHinge::GetAxis(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dJointGetHingeAxis(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //SetAnchor
+                void JointHinge::SetAnchor(double x, double y, double z)
+                {
+                        dJointSetHingeAnchor(this->_id, x, y, z);
+                }
+
+                //GetAnchor
+                Vector3 JointHinge::GetAnchor(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dJointGetHingeAnchor(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+        //Movement Parameters
+
+                //SetAllMovParams
+                void JointHinge::SetAllMovParams(double LoStop, double HiStop,
+                                                                                 double Velocity, double MaxForce,
+                                                                                 double FudgeFactor, double Bounce,
+                                                                                 double StopERP, double StopCFM)
+                {
+                        if (LoStop > -3.141592653 && LoStop <= 0) 
+                                dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
+
+                        if (HiStop < 3.141592653 && HiStop >= 0)
+                                dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
+
+                        dJointSetHingeParam(this->_id, dParamVel, Velocity);
+                        dJointSetHingeParam(this->_id, dParamFMax, MaxForce);
+                        dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor);
+                        dJointSetHingeParam(this->_id, dParamBounce, Bounce);
+                        dJointSetHingeParam(this->_id, dParamStopERP, StopERP);
+                        dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM);
+                }
+                                
+}