/**
* This method is used for activating or deactivating
* the Joint. If the Joint was inactive and should be
* activated the fixed ODE-joint is removed and the
* virtual attachJoint-method is called.
* If the Joint was active and should be deactivated
* the virtual detachJoint-method is called and then
* a fixed ODE-joint is created and attached to the bodies.
* @param isActive 0 .. not active
* anything else .. active
**/
void Joint::setActive(int isActive)
{
dBodyID body1, body2;
if (!active && isActive && joint)
{
dJointDestroy(joint);
body1 = jointInteraction->getBodyWithID(entityID1);
body2 = jointInteraction->getBodyWithID(entityID2);
attachJoint(body1, body2);
} // if
else if (active && !isActive && joint)
{
// first detach joint e.g. for saving axis angles
detachJoint();
dJointDestroy(joint);
body1 = jointInteraction->getBodyWithID(entityID1);
body2 = jointInteraction->getBodyWithID(entityID2);
joint = dJointCreateFixed(world, 0);
dJointAttach(joint, body1, body2);
dJointSetFixed(joint);
} // else if
if (isActive)
this->active = true;
else
this->active = false;
} // setActive
/**
* This method is called if the Joint should be detached.
* It first calls the virtual method detachJoint, so that
* each type of Joint can store relevant information (e.g axis-angles)
* before the joint is deleted.
**/
void Joint::detach()
{
detachJoint();
if (joint)
{
dJointDestroy(joint);
joint = NULL;
} // if
alreadyAttached = false;
} // detach
void CSkeleton::deleteJoint(Joint_handle hJoint, bool deleteChildren/* = true*/)
{
detachJoint(hJoint);
if(deleteChildren && children[hJoint].size() > 0)
{
Joint_handle_iterator jh_it, jh_end = children[hJoint].end();
for(jh_it = children[hJoint].begin(); jh_it != jh_end; ++jh_it)
deleteJoint(*jh_it, true);
}
else
{
joints.erase(joints.begin() + hJoint);
globals.erase(globals.begin() + hJoint);
children.erase(children.begin() + hJoint);
parents.erase(parents.begin() + hJoint);
}
}