vrsode/src/PhysicsJointBall.cpp

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#include "PhysicsJointBall.h"
#include "PhysicsManager.h"
#include "random_utils/LogManager.h"

namespace vrsode
{

PhysicsJointBall::PhysicsJointBall(VRS::SO<PhysicsBody> p_bodyOne,
                                   VRS::SO<PhysicsBody> p_bodyTwo,
                                   VRS::Vector p_position)
    : PhysicsJoint(p_bodyOne, p_bodyTwo)
{
    dBodyID bodyOne;
    dBodyID bodyTwo;
    p_bodyOne != 0 ? bodyOne = p_bodyOne->bodyId() : bodyOne = 0;
    p_bodyTwo != 0 ? bodyTwo = p_bodyTwo->bodyId() : bodyTwo = 0;

    setJointId(dJointCreateBall(PhysicsManager::get()->worldId(), 0));
    dJointAttach(jointId(), bodyOne, bodyTwo);
    dJointSetBallAnchor(jointId(), p_position[0], p_position[1], p_position[2]);
    dJointSetData(jointId(), this);
}

PhysicsJointBall::~PhysicsJointBall()
{
    dJointDestroy(jointId());
}

void
PhysicsJointBall::setLowStop(double p_lowStop)
{
    rWrn("setLowStop has no effect on ball joints. Nothing done.");
}

void
PhysicsJointBall::setHighStop(double p_highStop)
{
    rWrn("setHighStop has no effect on ball joints. Nothing done.");
}

void
PhysicsJointBall::setMotorVelocity(double p_velocity)
{
    rWrn("setMotorVelocity has no effect on ball joints. Nothing done.");
}

void
PhysicsJointBall::setMotorMaxForce(double p_maxForce)
{
    rWrn("setMotorMaxForce has no effect on ball joints. Nothing done.");
}

void
PhysicsJointBall::setStopBounce(double p_bounce)
{
    rWrn("setStopBounce has no effect on ball joints. Nothing done.");
}

void
PhysicsJointBall::setCFM(double p_cfm)
{
    rWrn("setCFM has no effect on ball joints. Nothing done.");
}

}

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