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// K-3D
// Copyright (c) 1995-2004, Timothy M. Shead
//
// Contact: tshead@k-3d.com
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public
// License along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
/** \file
\brief Implements a joint within an ODE world
\author Timothy M. Shead (tshead@k-3d.com)
\author Brett W. McCoy (bmccoy@chapelperilous.net)
*/
#include "ijoint.h"
#include <k3dsdk/renderman.h>
#include <k3dsdk/transform.h>
#include <k3dsdk/persistence.h>
#include <k3dsdk/measurement.h>
#include <k3dsdk/module.h>
#include <sdpgl/sdpgl.h>
namespace
{
class hingejoint_implementation :
public k3d::animate<k3d::editor::renderable<k3d::ri::renderable<k3d::transformable<k3d::persistent<k3d::object> > > > >,
public libk3dode::ijoint
{
typedef k3d::animate<k3d::editor::renderable<k3d::ri::renderable<k3d::transformable<k3d::persistent<k3d::object> > > > > base;
public:
hingejoint_implementation(k3d::idocument& Document) :
base(Document),
m_anchorx(k3d::init_name("anchorx") + k3d::init_description("Anchor X [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_anchory(k3d::init_name("anchory") + k3d::init_description("Anchor Y [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_anchorz(k3d::init_name("anchorz") + k3d::init_description("Anchor Z [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_axis1x(k3d::init_name("axis1x") + k3d::init_description("Axis 1 X [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_axis1y(k3d::init_name("axis1y") + k3d::init_description("Axis 1 Y [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_axis1z(k3d::init_name("axis1z") + k3d::init_description("Axis 1 Z [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_axis2x(k3d::init_name("axis2x") + k3d::init_description("Axis 2 X [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_axis2y(k3d::init_name("axis2y") + k3d::init_description("Axis 2 Y [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_axis2z(k3d::init_name("axis2z") + k3d::init_description("Axis 2 Z [number]") + k3d::init_value(0.0) + k3d::init_document(Document) + k3d::init_precision(2) + k3d::init_step_increment(0.1) + k3d::init_units(typeid(k3d::measurement::distance))),
m_joint(0)
{
enable_serialization(k3d::persistence::proxy(m_anchorx));
enable_serialization(k3d::persistence::proxy(m_anchory));
enable_serialization(k3d::persistence::proxy(m_anchory));
enable_serialization(k3d::persistence::proxy(m_axis1x));
enable_serialization(k3d::persistence::proxy(m_axis1y));
enable_serialization(k3d::persistence::proxy(m_axis1z));
enable_serialization(k3d::persistence::proxy(m_axis2x));
enable_serialization(k3d::persistence::proxy(m_axis2y));
enable_serialization(k3d::persistence::proxy(m_axis2z));
register_property(m_anchorx);
register_property(m_anchory);
register_property(m_anchorz);
register_property(m_axis1x);
register_property(m_axis1y);
register_property(m_axis1z);
register_property(m_axis2x);
register_property(m_axis2y);
register_property(m_axis2z);
}
const dJointID create(const dWorldID World, dJointGroupID JointGroup)
{
if(m_joint) dJointDestroy(m_joint);
m_joint = dJointCreateHinge(World, JointGroup);
return m_joint;
}
void reset()
{
}
void pre_step()
{
}
void post_step()
{
}
void destroy()
{
}
k3d::iplugin_factory& factory()
{
return get_factory();
}
static k3d::iplugin_factory& get_factory()
{
static k3d::plugin_factory<k3d::document_plugin<hingejoint_implementation> > factory(
k3d::uuid(0x85261cec, 0xe58c4062, 0xb6a38041, 0x57d57384),
"ODEHingeJoint",
"Experimental ODE dynamics library plugin",
"Objects",
k3d::iplugin_factory::EXPERIMENTAL);
return factory;
}
private:
dJointID m_joint;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_anchorx;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_anchory;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_anchorz;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_axis1x;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_axis1y;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_axis1z;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_axis2x;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_axis2y;
k3d_measurement_property(double,
k3d::immutable_name,
k3d::change_signal,
k3d::with_undo,
k3d::local_storage,
k3d::no_constraint) m_axis2z;
};
} // namespace
namespace libk3dode
{
//////////////////////////////////////////////////////////////////////////////////////////
// hingejoint_factory
k3d::iplugin_factory& hingejoint_factory()
{
return ::hingejoint_implementation::get_factory();
}
} // namespace libk3dode
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