oasisjoints.cpp

使用stl技术,(还没看,是听说的)

/******************************************************************************
 * This source file is part of Bad Camel Gaming
 * Copyright (C) 2003  Zephie Greyvenstein
 * See Readme.html for acknowledgements
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *****************************************************************************/

/******************************************************************************
 * FILENAME    : oasisJoints.cpp
 * DESCRIPTION : Define the different joints
 * AUTHOR      : Zephie Greyvenstein
 *****************************************************************************/

#include "oasisJoints.h"
#include "oasisPhysicsCommon.h"

namespace Oasis {
  
  ballJoint::ballJoint( const dWorld *worldParent,
      physics *first,
      physics *second ) : joint( JT_BALL ) {
    odeJoint = new dBallJoint( worldParent->id( ) );
    setBodies( first, second );
  }

  ballJoint::~ballJoint( ) {
    
  }

  void ballJoint::setAnchorPosition( const vector3 &origin ) {
    dBallJoint *ball = static_cast< dBallJoint* >( odeJoint );
    
    ball->setAnchor( origin.x, origin.y, origin.z );
    anchor = origin;
  }

  sliderJoint::sliderJoint( const dWorld *worldParent,
          physics *first,
          physics *second ) : joint( JT_SLIDER ) {
    odeJoint = new dSliderJoint( worldParent->id( ) );
    setBodies( first, second );
  }
  
  sliderJoint::~sliderJoint( ) {
    
  }
  
  void sliderJoint::setAxes( const vector3 &primary,
           const vector3 &secondary ) {
    dSliderJoint *slider = static_cast< dSliderJoint* >( odeJoint );
    
    slider->setAxis( primary.x, primary.y, primary.z );
    axes.first = primary;
  }

  void sliderJoint::setParameter( JointParam param, real value ) {
    dSliderJoint *slider = static_cast< dSliderJoint* >( odeJoint );

    slider->setParam( _mapToODEParam( param ), value );
  }

  const real sliderJoint::getParameter( JointParam param ) {
    dSliderJoint *slider = static_cast< dSliderJoint* >( odeJoint );
    
    return ( real )slider->getParam( _mapToODEParam( param ) );
  }

  hingeJoint::hingeJoint( const dWorld *worldParent,
        physics *first,
        physics *second ) : joint( JT_HINGE ) {
    odeJoint = new dHingeJoint( worldParent->id( ) );
    setBodies( first, second );
  }

  hingeJoint::~hingeJoint( ) {
    
  }
  
  void hingeJoint::setAnchorPosition( const vector3 &origin ) {
    dHingeJoint *hinge = static_cast< dHingeJoint* >( odeJoint );

    hinge->setAnchor( origin.x, origin.y, origin.z );
    anchor = origin;
  }

  void hingeJoint::setAxes( const vector3 &primary,
          const vector3 &secondary ) {
    dHingeJoint *hinge = static_cast< dHingeJoint* >( odeJoint );

    hinge->setAxis( primary.x, primary.y, primary.z );
    axes.first = primary;
  }

  void hingeJoint::setParameter( JointParam param, real value ) {
    dHingeJoint *hinge = static_cast< dHingeJoint* >( odeJoint );

    hinge->setParam( _mapToODEParam( param ), value );
  }

  const real hingeJoint::getParameter( JointParam param ) {
    dHingeJoint *hinge = static_cast< dHingeJoint* >( odeJoint );
    
    return ( real )hinge->getParam( _mapToODEParam( param ) );
  }

  const real hingeJoint::getAxisAngle( JointAxis axis ) const {
     dHingeJoint *hinge = static_cast< dHingeJoint* >( odeJoint );
     
     return ( real )hinge->getAngle( );
  }

  hinge2Joint::hinge2Joint( const dWorld *worldParent,
          physics *first,
          physics *second ) : joint( JT_HINGE2 ) {
    odeJoint = new dHinge2Joint( worldParent->id( ) );
    setBodies( first, second );
  }
  
  hinge2Joint::~hinge2Joint( ) {
    
  }
  
  void hinge2Joint::setAnchorPosition( const vector3 &origin ) {
    dHinge2Joint *hinge2 = static_cast< dHinge2Joint* >( odeJoint );

    hinge2->setAnchor( origin.x, origin.y, origin.z );
    anchor = origin;
  }

  void hinge2Joint::setAxes( const vector3 &primary,
           const vector3 &secondary ) {
    dHinge2Joint *hinge2 = static_cast< dHinge2Joint* >( odeJoint );

    hinge2->setAxis1( primary.x, primary.y, primary.z );
    hinge2->setAxis2( secondary.x, secondary.y, secondary.z );
  
    axes.first = primary;
    axes.second = secondary;
  }

  void hinge2Joint::setParameter( JointParam param, real value ) {
    dHinge2Joint *hinge2 = static_cast< dHinge2Joint* >( odeJoint );
   
    hinge2->setParam( _mapToODEParam( param ), value );
  }

  const real hinge2Joint::getParameter( JointParam param ) {
    dHinge2Joint *hinge2 = static_cast< dHinge2Joint* >( odeJoint );
    
    return ( real )hinge2->getParam( _mapToODEParam( param ) );
  }

  const real hinge2Joint::getAxisAngle( JointAxis axis ) const {
    dHinge2Joint *hinge2 = static_cast< dHinge2Joint* >( odeJoint );
     
     return ( real )hinge2->getAngle1( );
  }

  universalJoint::universalJoint( const dWorld *worldParent,
          physics *first,
          physics *second ) : joint( JT_UNIVERSAL ) {
    odeJoint = new dUniversalJoint( worldParent->id( ) );
    setBodies( first, second );
  }
  
  universalJoint::~universalJoint( ) {
    
  }
  
  void universalJoint::setAnchorPosition( const vector3 &origin ) {
    dUniversalJoint *uni = static_cast< dUniversalJoint* >( odeJoint );

    uni->setAnchor( origin.x, origin.y, origin.z );
    anchor = origin;
  }

  void universalJoint::setAxes( const vector3 &primary,
        const vector3 &secondary ) {
    dUniversalJoint *uni = static_cast< dUniversalJoint* >( odeJoint );

    uni->setAxis1( primary.x, primary.y, primary.z );
    uni->setAxis2( secondary.x, secondary.y, secondary.z );
    axes.first = primary;
    axes.second = secondary;
  }

  void universalJoint::setParameter( JointParam param, real value ) {
    dUniversalJoint *uni = static_cast< dUniversalJoint* >( odeJoint );

    uni->setParam( _mapToODEParam( param ), value );
  }

  const real universalJoint::getParameter( JointParam param ) {
    dUniversalJoint *uni = static_cast< dUniversalJoint* >( odeJoint );
    
    return ( real )uni->getParam( _mapToODEParam( param ) );
  }
}