resubmitting ode

1 files changed, 195 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
new file mode 100644
index 0000000..3115845
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
@@ -0,0 +1,195 @@
+#pragma once
+
+#include "Joint.h"
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{
+        __gc public class JointHinge : public Joint
+        {
+        public:
+
+                //Constructors
+
+                        JointHinge(void);
+                        JointHinge(World &world);
+                        JointHinge(World &world, JointGroup &jointGroup);
+                        
+
+                //Destructor
+
+                        virtual~JointHinge(void);
+
+                
+                //Methods       
+                        
+                        //Overloaded Create
+                        void Create(World &world, JointGroup &jointGroup);
+                        void Create(World &world);
+
+                        //Overloaded Attach
+                        void Attach(Body &body1, Body &body2);  
+                        void Attach(Body &body1);
+
+                        void SetAnchor(double x, double y, double z);
+                        Vector3 GetAnchor(void);
+
+                        void SetAxis(double x, double y, double z);
+                        Vector3 GetAxis(void);
+
+                        void SetAllMovParams(double LoStop, double HiStop,
+                                                                 double Velocity, double MaxForce,
+                                                                 double FudgeFactor, double Bounce,
+                                                                 double StopERP, double StopCFM);
+
+
+                //Properties
+
+                        //LoStop
+                        __property double get_LoStop(void)
+                                {
+                                        return dJointGetHingeParam(this->_id, dParamLoStop);
+                                }
+
+                        __property void set_LoStop(double value)
+                        {
+                                if (value > -3.141592653 && value <= 0)
+                                        dJointSetHingeParam(this->_id, dParamLoStop, value);
+                        }
+
+
+                        //HiStop
+                        __property double get_HiStop(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamHiStop);
+                        }
+
+                        __property void set_HiStop(double value)
+                        {
+                                if (value < 3.141592653 && value >= 0)
+                                        dJointSetHingeParam(this->_id, dParamHiStop, value);
+                        }
+                        
+
+                        //Velocity
+                        __property double get_Velocity(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamVel);
+                        }
+
+                        __property void set_Velocity(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamVel, value);
+                        }
+
+
+                        //MaxForce
+                        __property double get_MaxForce(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamFMax);
+                        }
+
+                        __property void set_MaxForce(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamFMax, value);
+                        }
+
+
+                        //FudgeFactor
+                        __property double get_FudgeFactor(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamFudgeFactor);
+                        }
+
+                        __property void set_FudgeFactor(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamFudgeFactor, value);
+                        }
+
+
+                        //Bounce
+                        __property double get_Bounce(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamBounce);
+                        }
+
+                        __property void set_Bounce(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamBounce, value);
+                        }
+
+
+                        //StopERP
+                        __property double get_StopERP(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamStopERP);
+                        }
+
+                        __property void set_StopERP(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamStopERP, value);
+                        }
+
+
+                        //StopCFM
+                        __property double get_StopCFM(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamStopCFM);
+                        }
+
+                        __property void set_StopCFM(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamStopCFM, value);
+                        }
+
+
+                        //GetAngle
+                        __property double get_Angle(void)
+                        {
+                                return dJointGetHingeAngle(this->_id);
+                        }
+
+
+                        //GetAngleRate
+                        __property double get_AngleRate(void)
+                        {
+                                return dJointGetHingeAngleRate(this->_id);
+                        }
+
+        };
+
+}
+
+//                              void    SetSuspensionERP(double value);
+//                              double  GetSuspensionERP(void);
+
+//                              void    SetSuspensionCFM(double value);
+//                              double  GetSuspensionCFM(void);
+
+/*                              
+                        //SetSuspensionERP
+                        void JointHinge::SetSuspensionERP(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamSuspensionERP, value);
+                        }
+
+                        //GetSuspensionERP
+                        double JointHinge::GetSuspensionERP(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamSuspensionERP);
+                        }
+                                                        
+                                
+                        //SetSuspensionCFM
+                        void JointHinge::SetSuspensionCFM(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamSuspensionCFM, value);
+                        }
+
+                        //GetSuspensionCFM
+                        double JointHinge::GetSuspensionCFM(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamSuspensionCFM);
+                        }
+
+*/