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#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);
}
}
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