303 lines
7.7 KiB
Text
303 lines
7.7 KiB
Text
/**
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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 odeUniversalJoint.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 OdeUniversalJoint::
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set_anchor(dReal x, dReal y, dReal z) {
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dJointSetUniversalAnchor(_id, x, y, z);
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}
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INLINE void OdeUniversalJoint::
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set_anchor(const LVecBase3f &anchor) {
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dJointSetUniversalAnchor(_id, anchor[0], anchor[1], anchor[2]);
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}
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INLINE void OdeUniversalJoint::
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set_axis1(dReal x, dReal y, dReal z) {
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dJointSetUniversalAxis1(_id, x, y, z);
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}
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INLINE void OdeUniversalJoint::
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set_axis1(const LVecBase3f &axis) {
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dJointSetUniversalAxis1(_id, axis[0], axis[1], axis[2]);
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}
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INLINE void OdeUniversalJoint::
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set_axis2(dReal x, dReal y, dReal z) {
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dJointSetUniversalAxis2(_id, x, y, z);
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}
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INLINE void OdeUniversalJoint::
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set_axis2(const LVecBase3f &axis) {
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dJointSetUniversalAxis2(_id, axis[0], axis[1], axis[2]);
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}
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INLINE void OdeUniversalJoint::
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add_torques(dReal torque1, dReal torque2) {
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dJointAddUniversalTorques(_id, torque1, torque2);
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}
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INLINE LVecBase3f OdeUniversalJoint::
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get_anchor() const {
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dVector3 result;
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dJointGetUniversalAnchor(_id, result);
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return LVecBase3f(result[0], result[1], result[2]);
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}
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INLINE LVecBase3f OdeUniversalJoint::
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get_anchor2() const {
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dVector3 result;
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dJointGetUniversalAnchor2(_id, result);
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return LVecBase3f(result[0], result[1], result[2]);
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}
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INLINE LVecBase3f OdeUniversalJoint::
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get_axis1() const {
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dVector3 result;
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dJointGetUniversalAxis1(_id, result);
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return LVecBase3f(result[0], result[1], result[2]);
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}
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INLINE LVecBase3f OdeUniversalJoint::
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get_axis2() const {
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dVector3 result;
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dJointGetUniversalAxis2(_id, result);
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return LVecBase3f(result[0], result[1], result[2]);
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}
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INLINE dReal OdeUniversalJoint::
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get_angle1() const {
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return dJointGetUniversalAngle1(_id);
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}
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INLINE dReal OdeUniversalJoint::
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get_angle2() const {
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return dJointGetUniversalAngle2(_id);
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}
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INLINE dReal OdeUniversalJoint::
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get_angle1_rate() const {
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return dJointGetUniversalAngle1Rate(_id);
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}
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INLINE dReal OdeUniversalJoint::
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get_angle2_rate() const {
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return dJointGetUniversalAngle2Rate(_id);
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamLoStop, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamLoStop2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamHiStop, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamHiStop2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamVel, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamVel2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamFMax, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamFMax2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamFudgeFactor, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamFudgeFactor2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamBounce, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamBounce2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamCFM, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamCFM2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamStopERP, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamStopERP2, val);
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}
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}
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INLINE void OdeUniversalJoint::
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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 <= 1 );
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if ( axis == 0 ) {
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dJointSetUniversalParam(_id, dParamStopCFM, val);
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} else if ( axis == 1 ) {
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dJointSetUniversalParam(_id, dParamStopCFM2, val);
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}
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamLoStop);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamLoStop2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamHiStop);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamHiStop2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamVel);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamVel2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamFMax);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamFMax2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamFudgeFactor);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamFudgeFactor2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamBounce);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamBounce2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamCFM);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamCFM2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamStopERP);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamStopERP2);
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}
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return 0;
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}
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INLINE dReal OdeUniversalJoint::
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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 <= 1, 0 );
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if ( axis == 0 ) {
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return dJointGetUniversalParam(_id, dParamStopCFM);
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} else if ( axis == 1 ) {
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return dJointGetUniversalParam(_id, dParamStopCFM2);
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}
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return 0;
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}
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