SO3SliderContraint.cpp

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#include "SO3PhysicGraph/SO3SliderContraint.h"
#include "SO3SceneGraph/SO3Scene.h"
 
namespace SO3
{
 
SSliderContraint::SSliderContraint() : SPhysicContraint(0, 0, 0, SPhysicContraint::SO3_SLIDER_CONTRAINT)
{
  // Forbiden, private.
}
 
SSliderContraint::SSliderContraint(SScene* scene, SBody* son, SBody* parent, Ogre::Vector3 position, Ogre::Vector3 pin, bool useLimits, bool useSpring) : SPhysicContraint(scene, son, parent, SPhysicContraint::SO3_SLIDER_CONTRAINT)
{
  mPosition = position;
  mPin = pin;
  mUseLimits = useLimits;
  mUseSpring = useSpring;
  mUseMotor = false;
  
  UpdateJoint();
}
 
SSliderContraint::~SSliderContraint()
{
  //mjoint deleted in SPhysicContraint
}
 
void SSliderContraint::SetParentBody(SBody* body)
{
  mParentBody = body;
  
  UpdateJoint();
}
 
void SSliderContraint::SetSonBody(SBody* body)
{
  mSonBody = body;
 
  UpdateJoint();
}
 
void SSliderContraint::UpdateJoint()
{
  mScene->GetPhysicsWorld()->GetPhysicWorld()->waitForUpdateToFinish();
  SAFE_DELETE(mJoint);
  
  if (mSonBody)
  {
    OgreNewt::Body* bparent = mParentBody != NULL ? mParentBody->getOgreNewtBodyPointer() : NULL;
    mJoint = static_cast<OgreNewt::Joint*> (new OgreNewt::Slider(mSonBody->getOgreNewtBodyPointer(), bparent, mPosition, mPin));
    static_cast<OgreNewt::Slider*>(mJoint)->enableLimits(mUseLimits);
    static_cast<OgreNewt::Slider*>(mJoint)->enableSpring(mUseSpring);
    static_cast<OgreNewt::Slider*>(mJoint)->enableMotor(mUseMotor);
  }
}
 
void SSliderContraint::UseLimits(bool state)
{
  mUseLimits = state;
  if (mJoint != NULL)
    static_cast<OgreNewt::Slider*>(mJoint)->enableLimits(mUseLimits);
}
 
void SSliderContraint::UseMotor(bool state)
{
  mUseMotor = state;
  if (mJoint != NULL)
    static_cast<OgreNewt::Slider*>(mJoint)->enableMotor(mUseMotor);
}
 
void SSliderContraint::SetMotorVelocity(Ogre::Real velocity, Ogre::Real strength)
{
  if (mJoint != NULL)
    static_cast<OgreNewt::Slider*>(mJoint)->setMotorVelocity(velocity, strength);
}
 
void SSliderContraint::SetLimits(Ogre::Real minDist, Ogre::Real maxDist)
{
  if (minDist > maxDist)
    minDist = maxDist;
 
  if (mJoint != NULL)
    static_cast<OgreNewt::Slider*>(mJoint)->setLimits(minDist, maxDist);
}
 
void SSliderContraint::SetSpring(Ogre::Real springStrength, Ogre::Real springDamping)
{
  if (mJoint != NULL)
    static_cast<OgreNewt::Slider*>(mJoint)->setSpring(springStrength, springDamping);
}
 
void SSliderContraint::UseSpring(bool state)
{
  mUseSpring = state;
  if (mJoint != NULL)
    static_cast<OgreNewt::Slider*>(mJoint)->enableSpring(mUseSpring);
}
 
Ogre::Real SSliderContraint::GetVelocity()
{
  if (mJoint == NULL)
    return 0.0f;
  else
    return static_cast<OgreNewt::Slider*>(mJoint)->getJointVelocity();
}
 
Ogre::Vector3 SSliderContraint::GetForce()
{
  if (mJoint == NULL)
    return Ogre::Vector3::ZERO;
  else
    return static_cast<OgreNewt::Slider*>(mJoint)->getJointForce();
}
 
Ogre::Real SSliderContraint::GetDistance()
{
  if (mJoint == NULL)
    return 0.0f;
  else
    return static_cast<OgreNewt::Slider*>(mJoint)->getDistance();
}
 
void SSliderContraint::SetFriction(Ogre::Real friction)
{
  if (mJoint != NULL)
    return static_cast<OgreNewt::Slider*>(mJoint)->setFriction(friction);
}
 
}