318 lines
8.3 KiB
Text
318 lines
8.3 KiB
Text
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file odeAMotorJoint.I
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* @author joswilso
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* @date 2006-12-27
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*/
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INLINE void OdeAMotorJoint::
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set_num_axes(int num) {
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dJointSetAMotorNumAxes(_id, num);
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}
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INLINE void OdeAMotorJoint::
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set_axis(int anum, int rel, dReal x, dReal y, dReal z) {
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dJointSetAMotorAxis(_id, anum, rel, x, y, z);
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}
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INLINE void OdeAMotorJoint::
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set_axis(int anum, int rel, const LVecBase3f &axis) {
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dJointSetAMotorAxis(_id, anum, rel, axis[0], axis[1], axis[2]);
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}
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INLINE void OdeAMotorJoint::
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set_angle(int anum, dReal angle) {
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dJointSetAMotorAngle(_id, anum, angle);
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}
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INLINE void OdeAMotorJoint::
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set_mode(int mode) {
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dJointSetAMotorMode(_id, mode);
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}
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INLINE void OdeAMotorJoint::
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add_torques(dReal torque1, dReal torque2, dReal torque3) {
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dJointAddAMotorTorques(_id, torque1, torque2, torque3);
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}
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INLINE int OdeAMotorJoint::
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get_num_axes() const {
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return dJointGetAMotorNumAxes(_id);
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}
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INLINE LVecBase3f OdeAMotorJoint::
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get_axis(int anum) const {
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dVector3 result;
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dJointGetAMotorAxis(_id, anum, result);
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return LVecBase3f(result[0], result[1], result[2]);
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}
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INLINE int OdeAMotorJoint::
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get_axis_rel(int anum) const {
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return dJointGetAMotorAxisRel(_id, anum);
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}
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INLINE dReal OdeAMotorJoint::
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get_angle(int anum) const {
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return dJointGetAMotorAngle(_id, anum);
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}
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INLINE dReal OdeAMotorJoint::
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get_angle_rate(int anum) const {
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return dJointGetAMotorAngleRate(_id, anum);
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}
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INLINE int OdeAMotorJoint::
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get_mode() const {
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return dJointGetAMotorMode(_id);
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}
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INLINE void OdeAMotorJoint::
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set_param_lo_stop(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamLoStop, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamLoStop, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamLoStop, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_hi_stop(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamHiStop, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamHiStop, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamHiStop, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_vel(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamVel, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamVel, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamVel, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_f_max(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamFMax, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamFMax, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamFMax, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_fudge_factor(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamFudgeFactor, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamFudgeFactor, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamFudgeFactor, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_bounce(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamBounce, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamBounce, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamBounce, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_CFM(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamCFM, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamCFM, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamCFM, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_stop_ERP(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamStopERP, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamStopERP, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamStopERP, val);
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}
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}
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INLINE void OdeAMotorJoint::
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set_param_stop_CFM(int axis, dReal val) {
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nassertv( _id != 0 );
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nassertv( 0 <= axis && axis <= 2 );
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if ( axis == 0 ) {
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dJointSetAMotorParam(_id, dParamStopCFM, val);
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} else if ( axis == 1 ) {
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dJointSetAMotorParam(_id, dParamStopCFM, val);
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} else if ( axis == 2 ) {
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dJointSetAMotorParam(_id, dParamStopCFM, val);
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}
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}
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INLINE dReal OdeAMotorJoint::
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get_param_lo_stop(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamLoStop);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamLoStop);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamLoStop);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_hi_stop(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamHiStop);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamHiStop);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamHiStop);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_vel(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamVel);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamVel);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamVel);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_f_max(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamFMax);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamFMax);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamFMax);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_fudge_factor(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamFudgeFactor);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamFudgeFactor);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamFudgeFactor);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_bounce(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamBounce);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamBounce);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamBounce);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_CFM(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamCFM);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamCFM);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamCFM);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_stop_ERP(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamStopERP);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamStopERP);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamStopERP);
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}
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return 0;
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}
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INLINE dReal OdeAMotorJoint::
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get_param_stop_CFM(int axis) const {
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nassertr( _id != 0, 0 );
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nassertr( 0 <= axis && axis <= 2, 0 );
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if ( axis == 0 ) {
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return dJointGetAMotorParam(_id, dParamStopCFM);
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} else if ( axis == 1 ) {
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return dJointGetAMotorParam(_id, dParamStopCFM);
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} else if ( axis == 2 ) {
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return dJointGetAMotorParam(_id, dParamStopCFM);
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}
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return 0;
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}
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