[Pyode-commits] pyode/src declarations.pyx, 1.16, 1.17 joints.pyx, 1.10, 1.11 ode.pyx, 1.14, 1.15

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1345/src

Modified Files:
	declarations.pyx joints.pyx ode.pyx 
Log Message:
Applied two patches from the mailing list which add support for LMotor and Plane2DJoint.

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** ode.pyx	13 Apr 2006 13:20:17 -0000	1.14
--- ode.pyx	9 Nov 2006 13:09:24 -0000	1.15
***************
*** 56,59 ****
--- 56,60 ----
   - ContactJoint
   - AMotor
+  - Plane2DJoint
  
  Geom classes:

Index: joints.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/joints.pyx,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** joints.pyx	15 Aug 2006 12:58:42 -0000	1.10
--- joints.pyx	9 Nov 2006 13:09:24 -0000	1.11
***************
*** 1081,1082 ****
--- 1081,1199 ----
  
  
+ # LMotor
+ cdef class LMotor(Joint):
+     """LMotor joint.
+     
+     Constructor::
+     
+       LMotor(world, jointgroup=None)
+     """
+ 
+     def __new__(self, World world not None, jointgroup=None):
+         cdef JointGroup jg
+         cdef dJointGroupID jgid
+ 
+         jgid = NULL
+         if jointgroup!=None:
+             jg = jointgroup
+             jgid = jg.gid
+         self.jid = dJointCreateLMotor(world.wid, jgid)
+ 
+     def __init__(self, World world not None, jointgroup=None):
+         self.world = world
+         if jointgroup!=None:
+             jointgroup._addjoint(self)
+             
+     # setNumAxes
+     def setNumAxes(self, int num):
+         """setNumAxes(num)
+ 
+         Set the number of angular axes that will be controlled by the LMotor.
+         num may be in the range from 0 to 3.
+ 
+         @param num: Number of axes (0-3)
+         @type num: int
+         """
+         dJointSetLMotorNumAxes(self.jid, num)
+ 
+     # getNumAxes
+     def getNumAxes(self):
+         """getNumAxes() -> int
+ 
+         Get the number of angular axes that are controlled by the LMotor.
+         """
+         return dJointGetLMotorNumAxes(self.jid)
+ 
+     # setAxis
+     def setAxis(self, int anum, int rel, axis):
+         """setAxis(anum, rel, axis)
+ 
+         Set an LMotor axis.
+ 
+         The anum argument selects the axis to change (0,1 or 2).
+ 
+ 	rel is (in ODE 0.7) ignored for LMotors.
+ 
+         @param anum: Axis number
+         @param rel: Relative orientation mode
+         @param axis: Axis
+         @type anum: int
+         @type rel: int
+         @type axis: 3-sequence of floats
+         """
+         dJointSetLMotorAxis(self.jid, anum, rel, axis[0], axis[1], axis[2])
+ 
+     # getAxis
+     def getAxis(self, int anum):
+         """getAxis(anum)
+ 
+         Get an LMotor axis.
+ 
+         @param anum: Axis index (0-2)
+         @type anum: int        
+         """
+         cdef dVector3 a
+         dJointGetLMotorAxis(self.jid, anum, a)
+         return (a[0],a[1],a[2])
+ 
+     # setParam
+     def setParam(self, param, value):
+         dJointSetLMotorParam(self.jid, param, value)
+ 
+     # getParam
+     def getParam(self, param):
+         return dJointGetLMotorParam(self.jid, param)
+ 
+ 
+ # Plane2DJoint
+ cdef class Plane2DJoint(Joint):
+     """Plane-2D Joint.
+ 
+     Constructor::
+     
+       Plane2DJoint(world, jointgroup=None)    
+     """
+ 
+     def __new__(self, World world not None, jointgroup=None):
+         cdef JointGroup jg
+         cdef dJointGroupID jgid
+ 
+         jgid=NULL
+         if jointgroup!=None:
+             jg=jointgroup
+             jgid=jg.gid
+         self.jid = dJointCreatePlane2D(world.wid, jgid)
+ 
+     def __init__(self, World world not None, jointgroup=None):
+         self.world = world
+         if jointgroup!=None:
+             jointgroup._addjoint(self)
+             
+     def setXParam(self, param, value):
+         dJointSetPlane2DXParam(self.jid, param, value)
+         
+     def setYParam(self, param, value):
+         dJointSetPlane2DYParam(self.jid, param, value)
+         
+     def setAngleParam(self, param, value):
+         dJointSetPlane2DAngleParam(self.jid, param, value)

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** declarations.pyx	30 May 2006 14:23:44 -0000	1.16
--- declarations.pyx	9 Nov 2006 13:09:24 -0000	1.17
***************
*** 213,216 ****
--- 213,218 ----
      dJointID dJointCreateNull (dWorldID, dJointGroupID)
      dJointID dJointCreateAMotor (dWorldID, dJointGroupID)
+     dJointID dJointCreateLMotor (dWorldID, dJointGroupID)
+     dJointID dJointCreatePlane2D (dWorldID, dJointGroupID)
  
      void dJointDestroy (dJointID)
***************
*** 251,255 ****
      void dJointSetAMotorMode (dJointID, int mode)
      void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3)
! 
      void dJointGetBallAnchor (dJointID, dVector3 result)
      void dJointGetBallAnchor2 (dJointID, dVector3 result)
--- 253,260 ----
      void dJointSetAMotorMode (dJointID, int mode)
      void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3)
!     void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
!     void dJointSetLMotorNumAxes (dJointID, int num)
!     void dJointSetLMotorParam (dJointID, int parameter, dReal value)
!     
      void dJointGetBallAnchor (dJointID, dVector3 result)
      void dJointGetBallAnchor2 (dJointID, dVector3 result)
***************
*** 284,287 ****
--- 289,298 ----
      dReal dJointGetAMotorParam (dJointID, int parameter)
      int dJointGetAMotorMode (dJointID)
+     int dJointGetLMotorNumAxes (dJointID)
+     void dJointGetLMotorAxis (dJointID, int anum, dVector3 result)
+     dReal dJointGetLMotorParam (dJointID, int parameter)
+     void dJointSetPlane2DXParam (dJointID, int parameter, dReal value)
+     void dJointSetPlane2DYParam (dJointID, int parameter, dReal value)
+     void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value)
  
      void dJointSetFeedback (dJointID, dJointFeedback *)