SO3HingeContraint.cpp

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#include "SO3PhysicGraph/SO3HingeContraint.h"
#include "SO3SceneGraph/SO3Scene.h"
 
namespace SO3
{
 
  SHingeContraint::SHingeContraint() : SPhysicContraint(0, 0, 0, SPhysicContraint::SO3_HINGE_CONTRAINT)
{
  // Forbiden, private.
}
 
SHingeContraint::SHingeContraint(SScene* scene, SBody* son, SBody* parent, Ogre::Vector3 position, Ogre::Vector3 pin, bool useLimits) : SPhysicContraint(scene, son, parent, SPhysicContraint::SO3_HINGE_CONTRAINT)
{
  mPosition = position;
  mPin = pin;
  mUseLimits = useLimits;
  mUseMotor = false;
  
  UpdateJoint();
}
 
SHingeContraint::~SHingeContraint()
{
  //mjoint deleted in SPhysicContraint
}
 
void SHingeContraint::SetParentBody(SBody* body)
{
  mParentBody = body;
  
  UpdateJoint();
}
 
void SHingeContraint::SetSonBody(SBody* body)
{
  mSonBody = body;
 
  UpdateJoint();
}
 
void SHingeContraint::UpdateJoint()
{
  mScene->GetPhysicsWorld()->GetPhysicWorld()->waitForUpdateToFinish();
  SAFE_DELETE(mJoint);
  
  if (mSonBody)
  {
    OgreNewt::Body* bparent = mParentBody != NULL ? mParentBody->getOgreNewtBodyPointer() : NULL;
    mJoint = static_cast<OgreNewt::Joint*> (new OgreNewt::Hinge(mSonBody->getOgreNewtBodyPointer(), bparent, mPosition, mPin));
    static_cast<OgreNewt::Hinge*>(mJoint)->enableLimits(mUseLimits);
    static_cast<OgreNewt::Hinge*>(mJoint)->enableMotor(mUseMotor);
  }
}
 
void SHingeContraint::UseLimits(bool state)
{
  mUseLimits = state;
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->enableLimits(mUseLimits);
}
 
void SHingeContraint::SetLimits(Ogre::Radian minAngle, Ogre::Radian maxAngle)
{
  if (minAngle > maxAngle)
    minAngle = maxAngle;
 
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->setLimits(minAngle, maxAngle);
}
 
Ogre::Radian SHingeContraint::GetAngle()
{
  if (mJoint == NULL)
    return Ogre::Radian(0.0f);
  else
    return static_cast<OgreNewt::Hinge*>(mJoint)->getJointAngle();
}
 
Ogre::Radian SHingeContraint::GetAngularVelocity()
{
  if (mJoint == NULL)
    return Ogre::Radian(0.0f);
  else
    return static_cast<OgreNewt::Hinge*>(mJoint)->getJointAngularVelocity();
}
 
Ogre::Vector3 SHingeContraint::GetForce()
{
  if (mJoint == NULL)
    return Ogre::Vector3::ZERO;
  else
    return static_cast<OgreNewt::Hinge*>(mJoint)->getJointForce();
}
 
Ogre::Vector3 SHingeContraint::GetPin()
{
  if (mJoint == NULL)
    return Ogre::Vector3::ZERO;
  else
    return static_cast<OgreNewt::Hinge*>(mJoint)->getJointPin();
}
 
void SHingeContraint::SetMotorOmega(Ogre::Radian omega, Ogre::Real strength)
{
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->setDesiredOmega(omega, strength);
}
 
void SHingeContraint::SetMotorAngle(Ogre::Radian angle, Ogre::Real minFriction, Ogre::Real maxFriction)
{
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->setDesiredAngle(angle, minFriction, maxFriction);
}
 
void SHingeContraint::SetTorque(Ogre::Real torque)
{
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->setTorque(torque);
}
 
void SHingeContraint::SetBrake(Ogre::Real maxForce)
{
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->setBrake(maxForce);
}
 
void SHingeContraint::UseMotor(bool state)
{
  mUseMotor = state;
  if (mJoint != NULL)
    static_cast<OgreNewt::Hinge*>(mJoint)->enableMotor(mUseMotor);
}
 
}