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#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);
}
*/
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