static float get_phys_joint_attr(dJointID j, int p)
{
switch (dJointGetType(j))
{
case dJointTypeHinge: return (float) dJointGetHingeParam (j, p);
case dJointTypeSlider: return (float) dJointGetSliderParam (j, p);
case dJointTypeHinge2: return (float) dJointGetHinge2Param (j, p);
case dJointTypeUniversal: return (float) dJointGetUniversalParam(j, p);
default: return 0.0f;
}
}
void PhysicsSliderJoint::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
//Do not respond to changes that have a Sync origin
if(origin & ChangedOrigin::Sync)
{
return;
}
if(whichField & WorldFieldMask)
{
if(_JointID)
{
dJointDestroy(_JointID);
_JointID = dJointCreateSlider(getWorld()->getWorldID(), 0);
}
else
{
_JointID = dJointCreateSlider(getWorld()->getWorldID(), 0);
if(!(whichField & HiStopFieldMask))
{
setHiStop(dJointGetSliderParam(_JointID,dParamHiStop));
}
if(!(whichField & LoStopFieldMask))
{
setLoStop(dJointGetSliderParam(_JointID,dParamLoStop));
}
if(!(whichField & BounceFieldMask))
{
setBounce(dJointGetSliderParam(_JointID,dParamBounce));
}
if(!(whichField & CFMFieldMask))
{
setCFM(dJointGetSliderParam(_JointID,dParamCFM));
}
if(!(whichField & StopCFMFieldMask))
{
setStopCFM(dJointGetSliderParam(_JointID,dParamStopCFM));
}
if(!(whichField & StopERPFieldMask))
{
setStopERP(dJointGetSliderParam(_JointID,dParamStopERP));
}
}
}
Inherited::changed(whichField, origin, details);
if((whichField & AxisFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderAxis(_JointID, getAxis().x(), getAxis().y(), getAxis().z());
}
if((whichField & HiStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderParam(_JointID, dParamHiStop, getHiStop());
}
if((whichField & LoStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderParam(_JointID, dParamLoStop, getLoStop());
}
if((whichField & BounceFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderParam(_JointID, dParamBounce, getBounce());
}
if((whichField & CFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderParam(_JointID, dParamCFM, getCFM());
}
if((whichField & StopERPFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderParam(_JointID, dParamStopERP, getStopERP());
}
if((whichField & StopCFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetSliderParam(_JointID, dParamStopCFM, getStopCFM());
}
}
void VelocityMotor::VelocitySensor::updateValue()
{
data.floatValue = dJointGetType(joint->joint) == dJointTypeHinge
? dJointGetHingeParam(joint->joint, dParamVel)
: dJointGetSliderParam(joint->joint, dParamVel);
}
