oasisjoint.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    : oasisJoint.cpp
 * DESCRIPTION : A physical joint
 * AUTHOR      : Zephie Greyvenstein
 *****************************************************************************/

#include "oasisJoint.h"
#include "oasisPhysical.h"
#include "oasisPhysics.h"
#include "oasisException.h"
#include "oasisPhysicsCommon.h"

namespace Oasis {
  
  joint::joint( JointType thisType ) {
    /// Set some defaults
    type = thisType;
    anchor = vector3::ZERO;
    odeJoint = NULL;

    /// Init the axes
    axes.first = vector3::UNITX;
    axes.second = vector3::UNITZ;
  }

  joint::~joint( ) {

  }

  const joint::JointType joint::getType( void ) const {
    return type;
  }
  
  void joint::setAnchorPosition( real x, real y, real z ) {
    setAnchorPosition( vector3( x, y, z ) );
  }

  const vector3 &joint::getAnchorPosition( void ) const {
    return anchor;
  }

  const joint::physicsPair &joint::getAttachments( void ) const {
    return attachments;
  }

  const joint::vectorPair &joint::getAxes( void ) const {
    return axes;
  }

  const vector3 &joint::getAxis( JointAxis axis ) const {
    if ( axis == JA_PRIMARY ) {
      return axes.first;
    } else if ( axis == JA_SECONDARY ) {
      return axes.second;
    }

    oasisError( exception::ET_ITEM_NOT_FOUND,
    "Axis was not found",
    "joint::getAxis" );
  }

  void joint::setBodies( physics *first, physics *second ) {
    // The joint body id's
    dBodyID one, two;
    // Assume no physical attachment
    one = two = 0;

    if ( first ) {     
      one = first->getODEBody( )->id( );   
    }

    if ( second ) {     
      two = second->getODEBody( )->id( );   
    }
    
    /// Setup the joint
    odeJoint->attach( one, two );

    // Store the attached physical objects
    attachments.first = first;
    attachments.second = second;
  }

  int joint::_mapToODEParam( JointParam param ) {
    switch ( param ) {
    case JP_LOSTOP:
      return dParamLoStop;
      break;
    case JP_HISTOP:
      return dParamHiStop;
      break;
    case JP_VELOCITY:
      return dParamVel;
      break;
    case JP_VELOCITY2:
      return dParamVel2;
      break;
    case JP_FMAX:
      return dParamFMax;
      break;
    case JP_FMAX2:
      return dParamFMax2;
      break;
    case JP_SUSPENSIONERP:
      return dParamSuspensionERP;
      break;
    case JP_SUSPENSIONCFM:
      return dParamSuspensionCFM;
      break;
    default:
      oasisError( exception::ET_INTERNAL_ERROR,
      "Unknown joint parameter",
      "joint::_mapToODEParam" );
    }
  }
}