SO3BallAndSocketContraint.cpp

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#include "SO3PhysicGraph/SO3BallAndSocketContraint.h"
#include "SO3SceneGraph/SO3Scene.h"
 
namespace SO3
{
 
SBallAndSocketContraint::SBallAndSocketContraint() : SPhysicContraint(0, 0, 0, SPhysicContraint::SO3_BALL_AND_SOCKET_CONTRAINT)
{
  // Forbiden, private.
}
 
SBallAndSocketContraint::SBallAndSocketContraint(SScene* scene, SBody* son, SBody* parent, Ogre::Vector3 position, bool useLimits) : SPhysicContraint(scene, son, parent, SPhysicContraint::SO3_BALL_AND_SOCKET_CONTRAINT)
{
  mPosition = position;
  mConeAngle = 0.0f;
  mMinTwist = 0.0f;
  mMaxTwist = 0.0f;
  mUseLimits = useLimits;
  mControlled = false;
  
  UpdateJoint();
}
 
SBallAndSocketContraint::~SBallAndSocketContraint()
{
  //mjoint deleted in SPhysicContraint
}
 
void SBallAndSocketContraint::SetParentBody(SBody* body)
{
  mParentBody = body;
  
  UpdateJoint();
}
 
void SBallAndSocketContraint::SetSonBody(SBody* body)
{
  mSonBody = body;
 
  UpdateJoint();
}
 
void SBallAndSocketContraint::SetAngularVelocity(Ogre::Real omegaMag)
{
  if (mJoint && mControlled)
  {
    static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->SetAngularVelocity(omegaMag);
  }
}
 
Ogre::Real SBallAndSocketContraint::GetAngularVelocity() const
{
  if (mJoint && mControlled)
  {
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->GetAngularVelocity();
  }
  else
    return 0.0f;
}
 
void SBallAndSocketContraint::SetPitchAngle(Ogre::Real angle)
{
  if (mJoint && mControlled)
  {
    static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->SetPitchAngle(angle);
  }
}
 
Ogre::Real SBallAndSocketContraint::GetPitchAngle() const
{
  if (mJoint && mControlled)
  {
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->GetPitchAngle();
  }
  else
    return 0.0f;
}
 
void SBallAndSocketContraint::SetYawAngle(Ogre::Real angle)
{
  if (mJoint && mControlled)
  {
    static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->SetYawAngle(angle);
  }
}
 
Ogre::Real SBallAndSocketContraint::GetYawAngle() const
{
  if (mJoint && mControlled)
  {
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->GetYawAngle();
  }
  else
    return 0.0f;
}
 
void SBallAndSocketContraint::SetRollAngle(Ogre::Real angle)
{
  if (mJoint && mControlled)
  {
    static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->SetRollAngle(angle);
  }
}
 
Ogre::Real SBallAndSocketContraint::GetRollAngle() const
{
  if (mJoint && mControlled)
  {
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->GetRollAngle();
  }
  else
    return 0.0f;
}
 
void SBallAndSocketContraint::UpdateJoint()
{
  mScene->GetPhysicsWorld()->GetPhysicWorld()->waitForUpdateToFinish();
  SAFE_DELETE(mJoint);
  
  if (mSonBody)
  {
    OgreNewt::Body* bparent = mParentBody != NULL ? mParentBody->getOgreNewtBodyPointer() : NULL;
    if (mControlled)
    {
      mJoint = static_cast<OgreNewt::Joint*> (new OgreNewt::ControlledBallAndSocket(mSonBody->getOgreNewtBodyPointer(), bparent, mPosition));
    }
    else if (mUseLimits)
    {
      mJoint = static_cast<OgreNewt::Joint*> (new OgreNewt::BallAndSocketLimits(mSonBody->getOgreNewtBodyPointer(), bparent, mPosition));
      static_cast<OgreNewt::BallAndSocketLimits*>(mJoint)->setLimits(mConeAngle, mMinTwist, mMaxTwist);
    }
    else
    {
      mJoint = static_cast<OgreNewt::Joint*> (new OgreNewt::BallAndSocket(mSonBody->getOgreNewtBodyPointer(), bparent, mPosition));
    }
  }
}
 
void SBallAndSocketContraint::UseLimits(bool state)
{
  if (state != mUseLimits)
  {
    mUseLimits = state;
    UpdateJoint();
  }
}
 
void SBallAndSocketContraint::SetControlledState(bool state)
{
  if (state != mControlled)
  {
    mControlled = state;
    UpdateJoint();
  }
}
 
void SBallAndSocketContraint::SetLimits(Ogre::Radian maxCone, Ogre::Radian minTwist, Ogre::Radian maxTwist)
{
  mConeAngle = maxCone;
  mMinTwist = minTwist;
  mMaxTwist = maxTwist;
  
  if (mJoint != 0 && !mControlled && mUseLimits)
    static_cast<OgreNewt::BallAndSocketLimits*>(mJoint)->setLimits(mConeAngle, mMinTwist, mMaxTwist);
}
 
Ogre::Vector3 SBallAndSocketContraint::GetAngle()
{
  if (mJoint == NULL)
    return Ogre::Vector3::ZERO;
  else if (mControlled)
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->getJointAngle();
  else if (mUseLimits)
    return static_cast<OgreNewt::BallAndSocketLimits*>(mJoint)->getJointAngle();
  else
    return static_cast<OgreNewt::BallAndSocket*>(mJoint)->getJointAngle();
}
 
Ogre::Vector3 SBallAndSocketContraint::GetOmega()
{
  if (mJoint == NULL)
    return Ogre::Vector3::ZERO;
  else if (mControlled)
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->getJointOmega();
  else if (mUseLimits)
    return static_cast<OgreNewt::BallAndSocketLimits*>(mJoint)->getJointOmega();
  else
    return static_cast<OgreNewt::BallAndSocket*>(mJoint)->getJointOmega();
}
 
Ogre::Vector3 SBallAndSocketContraint::GetForce()
{
  if (mJoint == NULL)
    return Ogre::Vector3::ZERO;
  else if (mControlled)
    return static_cast<OgreNewt::ControlledBallAndSocket*>(mJoint)->getJointForce();
  else if (mUseLimits)
    return static_cast<OgreNewt::BallAndSocketLimits*>(mJoint)->getJointForce();
  else
    return static_cast<OgreNewt::BallAndSocket*>(mJoint)->getJointForce();
}
 
}