one more for the gipper

1 files changed, 133 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
new file mode 100644
index 0000000..94fd7a7
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
@@ -0,0 +1,133 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointhinge2.h"
+
+namespace ODEManaged
+{
+        //Constructors
+        JointHinge2::JointHinge2(void) : Joint(){}
+
+        JointHinge2::JointHinge2(World &world)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(),0);
+        }
+        
+        JointHinge2::JointHinge2(World &world, JointGroup &jointGroup)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
+        }
+
+        //Destructor
+        JointHinge2::~JointHinge2(void){}
+
+        //CreateHinge2 (overload 1)
+        void JointHinge2::Create(World &world, JointGroup &jointGroup)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
+        }
+
+        //CreateHinge2 (overload 2)
+        void JointHinge2::Create(World &world)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(),0);
+        }
+
+        //SetAnchor1
+        void JointHinge2::SetAnchor (double x, double y ,double z)
+        {
+                dJointSetHinge2Anchor(_id, x,y,z);
+        }
+
+        //GetAnchor1
+        Vector3 JointHinge2::GetAnchor()
+        {
+                Vector3 retVal;
+                dVector3 temp;
+                dJointGetHinge2Anchor(_id,temp);
+                retVal.x = temp[0];
+                retVal.y = temp[1];
+                retVal.z = temp[2];
+                return retVal;
+        }
+
+        //SetAxis1
+        void JointHinge2::SetAxis1 (double x, double y ,double z)
+        {
+                dJointSetHinge2Axis1(_id, x,y,z);
+        }
+
+        //GetAxis1
+        Vector3 JointHinge2::GetAxis1()
+        {
+                Vector3 retVal;
+                dVector3 temp;
+                dJointGetHinge2Axis1(_id,temp);
+                retVal.x = temp[0];
+                retVal.y = temp[1];
+                retVal.z = temp[2];
+                return retVal;
+        }
+
+        //SetAxis2
+        void JointHinge2::SetAxis2 (double x, double y ,double z)
+        {
+                dJointSetHinge2Axis2(_id, x,y,z);
+        }
+
+        //GetAxis2
+        Vector3 JointHinge2::GetAxis2()
+        {
+                Vector3 retVal;
+                dVector3 temp;
+                dJointGetHinge2Axis2(_id,temp);
+                retVal.x = temp[0];
+                retVal.y = temp[1];
+                retVal.z = temp[2];
+                return retVal;
+        }
+
+        //GetAngle1
+        double JointHinge2::GetAngle1 ()
+        {
+                return dJointGetHinge2Angle1(this->_id);
+        }
+
+        //GetAngle1Rate
+        double JointHinge2::GetAngle1Rate ()
+        {
+                return dJointGetHinge2Angle1Rate(this->_id);
+        }
+
+        ////GetAngle hmm, this doesn't exist
+        //double JointHinge2::GetAngle2 ()
+        //{
+        //      return dJointGetHinge2Angle2(this->_id);
+        //}
+
+        //GetAngle2Rate
+        double JointHinge2::GetAngle2Rate ()
+        {
+                return dJointGetHinge2Angle2Rate(this->_id);
+        }
+
+
+        //Attach (overload 1)
+        void JointHinge2::Attach (Body &body1, Body &body2)
+        {
+                dJointAttach(_id, body1.Id(),body2.Id());
+        }
+
+        //Attach (overload 2) 
+        //TODO: possibly add an overload that takes anchor as a param also.
+        void JointHinge2::Attach (Body &body1)
+        {
+                dJointAttach(_id, body1.Id(),0);
+        }
+
+
+}