85 lines
1.7 KiB
Text
85 lines
1.7 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 odeJoint.I
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* @author joswilso
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* @date 2006-12-27
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*/
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/**
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* Returns true if the ID is 0, meaning the OdeJoint does not point to a valid
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* joint. It is an error to call a method on an empty joint. Note that an
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* empty OdeJoint also evaluates to False.
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*/
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INLINE bool OdeJoint::
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is_empty() const {
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return (_id == 0);
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}
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/**
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* Returns the underlying dJointID.
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*/
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INLINE dJointID OdeJoint::
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get_id() const {
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return _id;
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}
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/*
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INLINE void OdeJoint::
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set_data(void *data) {
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dJointSetData(_id, data);
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}
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INLINE void *OdeJoint::
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get_data() {
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return dJointGetData(_id);
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}
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*/
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INLINE int OdeJoint::
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get_joint_type() const {
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return dJointGetType(_id);
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}
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INLINE void OdeJoint::
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set_feedback(bool flag) {
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if (flag) {
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if (dJointGetFeedback(_id) != nullptr) {
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return;
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}
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OdeJointFeedback* feedback = new OdeJointFeedback;
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dJointSetFeedback(_id, (dJointFeedback*) feedback);
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} else if (dJointFeedback* feedback = dJointGetFeedback(_id)) {
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dJointSetFeedback(_id, nullptr);
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delete feedback;
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}
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}
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INLINE void OdeJoint::
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set_feedback(OdeJointFeedback *feedback) {
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dJointSetFeedback(_id, feedback);
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}
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INLINE OdeJointFeedback *OdeJoint::
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get_feedback() {
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return (OdeJointFeedback*) dJointGetFeedback(_id);
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}
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INLINE int OdeJoint::
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compare_to(const OdeJoint &other) const {
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if (_id != other._id) {
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return _id < other._id ? -1 : 1;
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}
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return 0;
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}
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INLINE bool OdeJoint::
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operator == (const OdeJoint &other) const {
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return _id == other._id;
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}
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