//! A piston requires a fixed anchor point and an axis
OscPistonODE::OscPistonODE(dWorldID odeWorld, dSpaceID odeSpace,
const char *name, OscBase* parent,
OscObject *object1, OscObject *object2,
double x, double y, double z,
double ax, double ay, double az)
: OscPiston(name, parent, object1, object2, x, y, z, ax, ay, az)
{
m_response = new OscResponse("response",this);
// create the constraint for object1
cVector3d anchor(x,y,z);
cVector3d axis(ax,ay,az);
dJointID odeJoint = dJointCreatePiston(odeWorld,0);
m_pSpecial = new ODEConstraint(this, odeJoint, odeWorld, odeSpace,
object1, object2);
dJointSetPistonAnchor(odeJoint, anchor.x, anchor.y, anchor.z);
dJointSetPistonAxis(odeJoint, axis.x, axis.y, axis.z);
printf("Piston joint created between %s and %s at anchor (%f,%f,%f), axis (%f,%f,%f)\n",
object1->c_name(), object2?object2->c_name():"world", x,y,z,ax,ay,az);
}
void PhysicsPistonJoint::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 = dJointCreatePiston(getWorld()->getWorldID(), 0);
}
else
{
_JointID = dJointCreatePiston(getWorld()->getWorldID(), 0);
if(!(whichField & HiStopFieldMask))
{
setHiStop(dJointGetPistonParam(_JointID,dParamHiStop));
}
if(!(whichField & LoStopFieldMask))
{
setLoStop(dJointGetPistonParam(_JointID,dParamLoStop));
}
if(!(whichField & BounceFieldMask))
{
setBounce(dJointGetPistonParam(_JointID,dParamBounce));
}
if(!(whichField & CFMFieldMask))
{
setCFM(dJointGetPistonParam(_JointID,dParamCFM));
}
if(!(whichField & StopCFMFieldMask))
{
setStopCFM(dJointGetPistonParam(_JointID,dParamStopCFM));
}
if(!(whichField & StopERPFieldMask))
{
setStopERP(dJointGetPistonParam(_JointID,dParamStopERP));
}
if(!(whichField & HiStop2FieldMask))
{
setHiStop2(dJointGetPistonParam(_JointID,dParamHiStop2));
}
if(!(whichField & LoStop2FieldMask))
{
setLoStop2(dJointGetPistonParam(_JointID,dParamLoStop2));
}
if(!(whichField & Bounce2FieldMask))
{
setBounce2(dJointGetPistonParam(_JointID,dParamBounce2));
}
if(!(whichField & CFM2FieldMask))
{
setCFM2(dJointGetPistonParam(_JointID,dParamCFM2));
}
if(!(whichField & StopCFM2FieldMask))
{
setStopCFM2(dJointGetPistonParam(_JointID,dParamStopCFM2));
}
if(!(whichField & StopERP2FieldMask))
{
setStopERP2(dJointGetPistonParam(_JointID,dParamStopERP2));
}
}
}
Inherited::changed(whichField, origin, details);
if((whichField & AnchorFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonAnchor(_JointID, getAnchor().x(), getAnchor().y(), getAnchor().z());
}
if((whichField & AxisFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonAxis(_JointID, getAxis().x(), getAxis().y(), getAxis().z());
}
if((whichField & HiStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamHiStop, getHiStop());
}
if((whichField & LoStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamLoStop, getLoStop());
}
if((whichField & BounceFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamBounce, getBounce());
}
if((whichField & CFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamCFM, getCFM());
}
if((whichField & StopERPFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamStopERP, getStopERP());
}
if((whichField & StopCFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamStopCFM, getStopCFM());
}
if((whichField & HiStop2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamHiStop2, getHiStop2());
}
if((whichField & LoStop2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamLoStop2, getLoStop2());
}
if((whichField & Bounce2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamBounce2, getBounce2());
}
if((whichField & CFM2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamCFM2, getCFM2());
}
if((whichField & StopERP2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamStopERP2, getStopERP2());
}
if((whichField & StopCFM2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetPistonParam(_JointID, dParamStopCFM2, getStopCFM2());
}
}
