vrsode/src/PhysicsJointUniversal.cpp

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#include "PhysicsJointUniversal.h"

#include "PhysicsManager.h"

namespace vrsode
{

PhysicsJointUniversal::PhysicsJointUniversal(VRS::SO<PhysicsBody> p_bodyOne,
                                            VRS::SO<PhysicsBody> p_bodyTwo,
                                            VRS::Vector p_position,
                                            VRS::Vector p_axisOne,
                                            VRS::Vector p_axisTwo)
    : 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(dJointCreateUniversal(PhysicsManager::get()->worldId(), 0));
    dJointAttach(jointId(), bodyOne, bodyTwo);
    dJointSetUniversalAxis1(
            jointId(), p_axisOne[0], p_axisOne[1], p_axisOne[2]);
    dJointSetUniversalAxis2(
            jointId(), p_axisTwo[0], p_axisTwo[1], p_axisTwo[2]);
    dJointSetUniversalAnchor(
            jointId(), p_position[0], p_position[1], p_position[2]);

    dJointSetData(jointId(), this);
}

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

void
PhysicsJointUniversal::setLowStop(double p_lowStop)
{
    dJointSetUniversalParam(jointId(), dParamLoStop, p_lowStop);
}

void
PhysicsJointUniversal::setHighStop(double p_highStop)
{
    dJointSetUniversalParam(jointId(), dParamHiStop, p_highStop);
}

void
PhysicsJointUniversal::setMotorVelocity(double p_velocity)
{
    dJointSetUniversalParam(jointId(), dParamVel, p_velocity);
}

void
PhysicsJointUniversal::setMotorMaxForce(double p_maxForce)
{
    dJointSetUniversalParam(jointId(), dParamFMax, p_maxForce);
}

void
PhysicsJointUniversal::setStopBounce(double p_bounce)
{
    dJointSetUniversalParam(jointId(), dParamBounce, p_bounce);
}

void
PhysicsJointUniversal::setCFM(double p_cfm)
{
    dJointSetUniversalParam(jointId(), dParamCFM, p_cfm);
}

}

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