[simspark-cvs] simspark/spark/oxygen/physicsserver hingejoint.h,1.1,1.2 hingejoint.cpp,1.1,1.2

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21747

Modified Files:
	hingejoint.h hingejoint.cpp 
Log Message:
-sync with rcssserver3d CVS

Index: hingejoint.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/hingejoint.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** hingejoint.cpp	5 Dec 2005 21:16:49 -0000	1.1
--- hingejoint.cpp	2 Jan 2006 18:10:36 -0000	1.2
***************
*** 49,56 ****
      Vector3f gAnchor(GetWorldTransform() * anchor);
      dJointSetHingeAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
- 
-     // calculate hinge axis (pos. z, relative to world transform)
-     Vector3f up(GetWorldTransform().Rotate(Vector3f(0,0,1)));
-     dJointSetHingeAxis(mODEJoint, up[0], up[1], up[2]);
  }
  
--- 49,52 ----
***************
*** 82,85 ****
--- 78,118 ----
  }
  
+ void HingeJoint::SetAxis(EAxisIndex idx)
+ {
+     switch(idx)
+     {
+     case AI_FIRST:
+     {
+         // calculate hinge axis (pos. x, relative to world transform)
+         Vector3f right(GetWorldTransform().Rotate(Vector3f(1,0,0)));
+         dJointSetHingeAxis(mODEJoint, right[0], right[1], right[2]);
+         break;
+     }
+     case AI_SECOND:
+     {
+        // calculate hinge axis (pos. y, relative to world transform)
+         Vector3f forward(GetWorldTransform().Rotate(Vector3f(0,1,0)));
+         dJointSetHingeAxis(mODEJoint, forward[0], forward[1], forward[2]); 
+         break;
+     }
+     case AI_THIRD:
+     {
+         // calculate hinge axis (pos. z, relative to world transform)
+         Vector3f up(GetWorldTransform().Rotate(Vector3f(0,0,1)));
+         dJointSetHingeAxis(mODEJoint, up[0], up[1], up[2]);
+         break;
+     }
+     default:
+         break;
+     }
+ }
+ 
+ Vector3f HingeJoint::GetAxis()
+ {
+     dReal axis[3];
+     dJointGetHingeAxis(mODEJoint, axis);
+     return Vector3f (axis[0], axis[1], axis[2]);
+ }
+ 
  float HingeJoint::GetAngle()
  {

Index: hingejoint.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/hingejoint.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** hingejoint.h	5 Dec 2005 21:16:49 -0000	1.1
--- hingejoint.h	2 Jan 2006 18:10:36 -0000	1.2
***************
*** 45,48 ****
--- 45,57 ----
      salt::Vector3f GetAnchor(EBodyIndex idx);
  
+     /** Sets the joint axis. The connected bodies movements will be
+        constrained to move around this axis.
+     */
+     void SetAxis(EAxisIndex idx);
+ 
+     /** Returns the hinge axis in the local coordinate system
+    */
+     salt::Vector3f GetAxis();
+ 
      /** returns the hinge angle in degrees, measured between the two
          bodies, or between the body and the static environment.
***************
*** 53,60 ****
      float GetAngleRate();
  
- protected:
-     /** creates a new hingejoint joint */
-     virtual void OnLink();
- 
      /** sets a joint parameter value */
      virtual void SetParameter(int parameter, float value);
--- 62,65 ----
***************
*** 62,65 ****
--- 67,74 ----
      /** returns a joint parameter value */
      virtual float GetParameter(int parameter);
+ 
+ protected:
+     /** creates a new hingejoint joint */
+     virtual void OnLink();
  };