void
dxJointHinge2::setRelativeValues()
{
dVector3 anchor;
dJointGetHinge2Anchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
dVector3 axis;
if ( node[0].body )
{
dJointGetHinge2Axis1(this, axis);
setAxes( this, axis[0],axis[1],axis[2], axis1, NULL );
}
if ( node[0].body )
{
dJointGetHinge2Axis2(this, axis);
setAxes( this, axis[0],axis[1],axis[2], NULL, axis2 );
}
dVector3 ax1, ax2;
getAxisInfo( ax1, ax2, axis, s0, c0 );
makeV1andV2();
makeW1andW2();
}
Vec3f PhysicsHinge2Joint::getAxis1(void)
{
PhysicsHinge2JointPtr tmpPtr(*this);
dVector3 a;
dJointGetHinge2Axis1(tmpPtr->id, a);
return Vec3f(a[0], a[1], a[2]);
}
/**
* This method is called if the joint should be detached. It stores
* the actual Joint-axis, which can change their orientation at
* Hinge2Joints, and destroys the helper body and joint.
**/
void Hinge2Joint::detachJoint() {
if (active && joint)
{
TransformationData entityTrans;
dVector3 vec;
dJointGetHinge2Axis1(joint, vec);
axis1[0] = vec[0];
axis1[1] = vec[1];
axis1[2] = vec[2];
dJointGetHinge2Axis2(joint, vec);
axis2[0] = vec[0];
axis2[1] = vec[1];
axis2[2] = vec[2];
if (mainEntity != NULL)
{
entityTrans = mainEntity->getEnvironmentTransformation();
gmtl::Quatf entityRot;
gmtl::Vec3f scaleVec;
gmtl::AxisAnglef axAng;
// get the inverse scale values of the mainEntity
/* scaleVec[0] = 1.0f/mainEntity->getXScale();
scaleVec[1] = 1.0f/mainEntity->getYScale();
scaleVec[2] = 1.0f/mainEntity->getZScale();*/
scaleVec[0] = 1.0f/entityTrans.scale[0];
scaleVec[1] = 1.0f/entityTrans.scale[1];
scaleVec[2] = 1.0f/entityTrans.scale[2];
// get the inverse Rotation of the mainEntity
// axAng[0] = -mainEntity->getRotAngle();
// axAng[1] = mainEntity->getXRot();
// axAng[2] = mainEntity->getYRot();
// axAng[3] = mainEntity->getZRot();
// gmtl::set(entityRot, axAng);
entityRot = entityTrans.orientation;
gmtl::invert(entityRot);
axis1 *= entityRot;
axis2 *= entityRot;
axis1[0] *= scaleVec[0];
axis1[1] *= scaleVec[1];
axis1[2] *= scaleVec[2];
axis2[0] *= scaleVec[0];
axis2[1] *= scaleVec[1];
axis2[2] *= scaleVec[2];
gmtl::normalize(axis1);
gmtl::normalize(axis2);
} // if
} // if
if (usedHelperJoint)
{
dJointDestroy(helperJoint);
dBodyDestroy(helperBody);
usedHelperJoint = false;
} // if
} // detachJoint
static void get_phys_joint_axis_1(dJointID j, float *v)
{
dVector3 V = { 0, 0, 0 };
switch (dJointGetType(j))
{
case dJointTypeHinge: dJointGetHingeAxis (j, V); break;
case dJointTypeSlider: dJointGetSliderAxis (j, V); break;
case dJointTypeHinge2: dJointGetHinge2Axis1 (j, V); break;
case dJointTypeUniversal: dJointGetUniversalAxis1(j, V); break;
default: break;
}
v[0] = (float) V[0];
v[1] = (float) V[1];
v[2] = (float) V[2];
}
void TSRODESteeringJoint::GetAxis1( TSRVector3& _vAxis1 )
{
dJointGetHinge2Axis1( m_ODEJoint.m_JointID, _vAxis1.v );
}