163 lines
2.7 KiB
C++
163 lines
2.7 KiB
C++
#include "StdAfx.h"
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#include <ode/ode.h>
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#include "JointAMotor.h"
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namespace ODEManaged
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{
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//Constructors
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JointAMotor::JointAMotor(void) : Joint(){}
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JointAMotor::JointAMotor(World &world)
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{
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if(this->_id) dJointDestroy(this->_id);
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_id = dJointCreateAMotor(world.Id(), 0);
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}
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JointAMotor::JointAMotor(World &world, JointGroup &jointGroup)
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{
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if(this->_id) dJointDestroy(this->_id);
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_id = dJointCreateAMotor(world.Id(), jointGroup.Id());
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}
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//Destructor
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JointAMotor::~JointAMotor(void){}
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//Methods
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//Overloaded Create
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void JointAMotor::Create(World &world, JointGroup &jointGroup)
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{
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if(this->_id) dJointDestroy(this->_id);
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_id = dJointCreateAMotor(world.Id(), jointGroup.Id());
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}
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void JointAMotor::Create(World &world)
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{
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if(this->_id) dJointDestroy(this->_id);
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_id = dJointCreateAMotor(world.Id(), 0);
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}
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//Overloaded Attach
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void JointAMotor::Attach(Body &body1, Body &body2)
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{
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dJointAttach(this->_id, body1.Id(), body2.Id());
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}
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void JointAMotor::Attach(Body &body1)
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{
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dJointAttach(this->_id, body1.Id(), 0);
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}
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//SetNumAxes
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void JointAMotor::SetNumAxes(int num)
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{
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dJointSetAMotorNumAxes(this->_id, num);
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}
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//GetNumAxes
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int JointAMotor::GetNumAxes(void)
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{
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return dJointGetAMotorNumAxes(this->_id);
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}
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//SetAxis
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void JointAMotor::SetAxis(int anum, int rel, double x, double y ,double z)
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{
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dJointSetAMotorAxis(this->_id, anum, rel, x, y, z);
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}
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//GetAxis
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Vector3 JointAMotor::GetAxis(int anum)
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{
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Vector3 retVal;
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dVector3 temp;
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dJointGetAMotorAxis(this->_id, anum, temp);
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retVal.x = temp[0];
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retVal.y = temp[1];
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retVal.z = temp[2];
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return retVal;
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}
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//SetAngle
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void JointAMotor::SetAngle(int anum, double angle)
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{
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dJointSetAMotorAngle(this->_id, anum, angle);
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}
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//GetAngle
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double JointAMotor::GetAngle(int anum)
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{
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return dJointGetAMotorAngle(this->_id, anum);
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}
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//SetParam
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void JointAMotor::SetParam(int parameter, double value)
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{
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dJointSetAMotorParam(this->_id, parameter, value);
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}
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//GetParam
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double JointAMotor::GetParam(int parameter)
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{
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return dJointGetAMotorParam(this->_id, parameter);
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}
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//SetMode
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void JointAMotor::SetMode(int mode)
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{
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dJointSetAMotorMode(this->_id, mode);
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}
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//GetMode
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int JointAMotor::GetMode(void)
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{
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return dJointGetAMotorMode(this->_id);
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}
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//GetAxisRel
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int JointAMotor::GetAxisRel(int anum)
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{
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return dJointGetAMotorAxisRel(this->_id, anum);
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}
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//GetAngleRate
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double JointAMotor::GetAngleRate(int anum)
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{
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return dJointGetAMotorAngleRate(this->_id, anum);
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}
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}
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