amotor.cc
Go to the documentation of this file.00001
00002
00003
00004
00005 #include "physics/amotor.h"
00006
00007 namespace Physics
00008 {
00009 ImplementRtti(Physics::AMotor, Physics::Joint);
00010 ImplementFactory(Physics::AMotor);
00011
00012
00015 AMotor::AMotor() :
00016 Joint(Joint::AMotor)
00017 {
00018
00019 }
00020
00021
00024 AMotor::~AMotor()
00025 {
00026
00027 }
00028
00029
00034 void
00035 AMotor::Attach(dWorldID worldID, dJointGroupID groupID, const matrix44& m)
00036 {
00037
00038 this->odeJointId = dJointCreateAMotor(worldID, groupID);
00039
00040
00041 dJointSetAMotorMode(this->odeJointId, dAMotorUser);
00042 dJointSetAMotorNumAxes(this->odeJointId, this->GetNumAxes());
00043 int i;
00044 int num = this->GetNumAxes();
00045 for (i = 0; i < num; i++)
00046 {
00047 const JointAxis& curAxis = this->axisParams[i];
00048 dJointSetAMotorAngle(this->odeJointId, i, curAxis.GetAngle());
00049 if (curAxis.IsLoStopEnabled())
00050 {
00051 dJointSetAMotorParam(this->odeJointId, dParamLoStop + dParamGroup * i, curAxis.GetLoStop());
00052 }
00053 if (curAxis.IsHiStopEnabled())
00054 {
00055 dJointSetAMotorParam(this->odeJointId, dParamHiStop + dParamGroup * i, curAxis.GetHiStop());
00056 }
00057 dJointSetAMotorParam(this->odeJointId, dParamVel + dParamGroup * i, curAxis.GetVelocity());
00058 dJointSetAMotorParam(this->odeJointId, dParamFMax + dParamGroup * i, curAxis.GetFMax());
00059 dJointSetAMotorParam(this->odeJointId, dParamFudgeFactor + dParamGroup * i, curAxis.GetFudgeFactor());
00060 dJointSetAMotorParam(this->odeJointId, dParamBounce + dParamGroup * i, curAxis.GetBounce());
00061 dJointSetAMotorParam(this->odeJointId, dParamCFM + dParamGroup * i, curAxis.GetCFM());
00062 dJointSetAMotorParam(this->odeJointId, dParamStopERP + dParamGroup * i, curAxis.GetStopERP());
00063 dJointSetAMotorParam(this->odeJointId, dParamStopCFM + dParamGroup * i, curAxis.GetStopCFM());
00064 }
00065
00066
00067 Joint::Attach(worldID, groupID, m);
00068
00069
00070 this->UpdateTransform(m);
00071 }
00072
00073
00076 void
00077 AMotor::UpdateTransform(const matrix44& m)
00078 {
00079 matrix33 m33(m.x_component(), m.y_component(), m.z_component());
00080 int i;
00081 int num = this->GetNumAxes();
00082 for (i = 0; i < num; i++)
00083 {
00084 vector3 a = m33 * this->axisParams[i].GetAxis();
00085 dJointSetAMotorAxis(this->odeJointId, i, 0, a.x, a.y, a.z);
00086 }
00087 }
00088
00089 };
