sliderjoint.cpp
来自「robocup rcssserver 运行防真机器人足球比赛所用的服务器端」· C++ 代码 · 共 79 行
CPP
79 行
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- this file is part of rcssserver3D Fri May 9 2003 Copyright (C) 2003 Koblenz University $Id: sliderjoint.cpp,v 1.4 2007/02/12 19:14:06 rollmark Exp $ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; version 2 of the License. This program 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 General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.*/#include "sliderjoint.h"#include <zeitgeist/logserver/logserver.h>using namespace oxygen;using namespace boost;using namespace salt;SliderJoint::SliderJoint() : Joint(){}SliderJoint::~SliderJoint(){}void SliderJoint::OnLink(){ dWorldID world = GetWorldID(); if (world == 0) { return; } mODEJoint = dJointCreateSlider(world, 0);}void SliderJoint::Attach(shared_ptr<Body> body1, shared_ptr<Body> body2){ Joint::Attach(body1,body2); // relative slider axis points up Vector3f up(GetWorldTransform().Rotate(Vector3f(0,0,1))); dJointSetSliderAxis(mODEJoint,up[0],up[1],up[2]);}float SliderJoint::GetPosition(){ return dJointGetSliderPosition(mODEJoint);}float SliderJoint::GetPositionRate(){ return dJointGetSliderPositionRate(mODEJoint);}void SliderJoint::SetParameter(int parameter, float value){ dJointSetSliderParam(mODEJoint, parameter, value);}float SliderJoint::GetParameter(int parameter) const{ return dJointGetSliderParam(mODEJoint, parameter);}⌨️ 快捷键说明
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