void BallJoint::computeValue(double& value, int portId) { if(portId == MOTOR_AXIS_1) value = (dJointGetAMotorParam(*(this->currentMotor->getPhysicalMotor()), dParamVel)); else if(portId == MOTOR_AXIS_2) value = (dJointGetAMotorParam(*(this->currentMotor->getPhysicalMotor()), dParamVel2)); else if(portId == MOTOR_AXIS_3) value = (dJointGetAMotorParam(*(this->currentMotor->getPhysicalMotor()), dParamVel3)); }
void PhysicsAMotorJoint::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 = dJointCreateAMotor(getWorld()->getWorldID(), 0); } else { _JointID = dJointCreateAMotor(getWorld()->getWorldID(), 0); if(!(whichField & VelFieldMask)) { setVel(dJointGetAMotorParam(_JointID,dParamVel)); } if(!(whichField & FMaxFieldMask)) { setFMax(dJointGetAMotorParam(_JointID,dParamFMax)); } if(!(whichField & FudgeFactorFieldMask)) { setFudgeFactor(dJointGetAMotorParam(_JointID,dParamFudgeFactor)); } if(!(whichField & Vel2FieldMask)) { setVel2(dJointGetAMotorParam(_JointID,dParamVel2)); } if(!(whichField & FMax2FieldMask)) { setFMax2(dJointGetAMotorParam(_JointID,dParamFMax2)); } if(!(whichField & FudgeFactor2FieldMask)) { setFudgeFactor2(dJointGetAMotorParam(_JointID,dParamFudgeFactor2)); } if(!(whichField & Vel3FieldMask)) { setVel3(dJointGetAMotorParam(_JointID,dParamVel3)); } if(!(whichField & FMax3FieldMask)) { setFMax3(dJointGetAMotorParam(_JointID,dParamFMax3)); } if(!(whichField & FudgeFactor3FieldMask)) { setFudgeFactor3(dJointGetAMotorParam(_JointID,dParamFudgeFactor3)); } if(!(whichField & HiStopFieldMask)) { setHiStop(dJointGetAMotorParam(_JointID,dParamHiStop)); } if(!(whichField & LoStopFieldMask)) { setLoStop(dJointGetAMotorParam(_JointID,dParamLoStop)); } if(!(whichField & BounceFieldMask)) { setBounce(dJointGetAMotorParam(_JointID,dParamBounce)); } if(!(whichField & CFMFieldMask)) { setCFM(dJointGetAMotorParam(_JointID,dParamCFM)); } if(!(whichField & StopCFMFieldMask)) { setStopCFM(dJointGetAMotorParam(_JointID,dParamStopCFM)); } if(!(whichField & StopERPFieldMask)) { setStopERP(dJointGetAMotorParam(_JointID,dParamStopERP)); } if(!(whichField & HiStop2FieldMask)) { setHiStop2(dJointGetAMotorParam(_JointID,dParamHiStop2)); } if(!(whichField & LoStop2FieldMask)) { setLoStop2(dJointGetAMotorParam(_JointID,dParamLoStop2)); } if(!(whichField & Bounce2FieldMask)) { setBounce2(dJointGetAMotorParam(_JointID,dParamBounce2)); } if(!(whichField & CFM2FieldMask)) { setCFM2(dJointGetAMotorParam(_JointID,dParamCFM2)); } if(!(whichField & StopCFM2FieldMask)) { setStopCFM2(dJointGetAMotorParam(_JointID,dParamStopCFM2)); } if(!(whichField & StopERP2FieldMask)) { setStopERP2(dJointGetAMotorParam(_JointID,dParamStopERP2)); } if(!(whichField & HiStop3FieldMask)) { setHiStop3(dJointGetAMotorParam(_JointID,dParamHiStop3)); } if(!(whichField & LoStop3FieldMask)) { setLoStop3(dJointGetAMotorParam(_JointID,dParamLoStop3)); } if(!(whichField & Bounce3FieldMask)) { setBounce3(dJointGetAMotorParam(_JointID,dParamBounce3)); } if(!(whichField & CFM3FieldMask)) { setCFM3(dJointGetAMotorParam(_JointID,dParamCFM3)); } if(!(whichField & StopCFM3FieldMask)) { setStopCFM3(dJointGetAMotorParam(_JointID,dParamStopCFM3)); } if(!(whichField & StopERP3FieldMask)) { setStopERP3(dJointGetAMotorParam(_JointID,dParamStopERP3)); } } } Inherited::changed(whichField, origin, details); if((whichField & NumAxesFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorNumAxes(_JointID,getNumAxes()); } if((whichField & Axis1FieldMask) || (whichField & Axis1ReferenceFrameFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorAxis(_JointID,0, getAxis1ReferenceFrame(), getAxis1().x(), getAxis1().y(), getAxis1().z()); } if((whichField & Axis2FieldMask) || (whichField & Axis2ReferenceFrameFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorAxis(_JointID,1, getAxis2ReferenceFrame(), getAxis2().x(), getAxis2().y(), getAxis2().z()); } if((whichField & Axis3FieldMask) || (whichField & Axis3ReferenceFrameFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorAxis(_JointID,2, getAxis3ReferenceFrame(), getAxis3().x(), getAxis3().y(), getAxis3().z()); } if((whichField & VelFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamVel, getVel()); } if((whichField & FMaxFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamFMax, getFMax()); } if((whichField & FudgeFactorFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamFudgeFactor, getFudgeFactor()); } if((whichField & Vel2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamVel2, getVel2()); } if((whichField & FMax2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamFMax2, getFMax2()); } if((whichField & FudgeFactor2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamFudgeFactor2, getFudgeFactor2()); } if((whichField & Vel3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamVel3, getVel3()); } if((whichField & FMax3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamFMax3, getFMax3()); } if((whichField & FudgeFactor3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamFudgeFactor3, getFudgeFactor3()); } if((whichField & HiStopFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamHiStop, getHiStop()); } if((whichField & LoStopFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamLoStop, getLoStop()); } if((whichField & BounceFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamBounce, getBounce()); } if((whichField & CFMFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamCFM, getCFM()); } if((whichField & StopERPFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamStopERP, getStopERP()); } if((whichField & StopCFMFieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamStopCFM, getStopCFM()); } if((whichField & HiStop2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamHiStop2, getHiStop2()); } if((whichField & LoStop2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamLoStop2, getLoStop2()); } if((whichField & Bounce2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamBounce2, getBounce2()); } if((whichField & CFM2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamCFM2, getCFM2()); } if((whichField & StopERP2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamStopERP2, getStopERP2()); } if((whichField & StopCFM2FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamStopCFM2, getStopCFM2()); } if((whichField & HiStop3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamHiStop3, getHiStop3()); } if((whichField & LoStop3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamLoStop3, getLoStop3()); } if((whichField & Bounce3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamBounce3, getBounce3()); } if((whichField & CFM3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamCFM3, getCFM3()); } if((whichField & StopERP3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamStopERP3, getStopERP3()); } if((whichField & StopCFM3FieldMask) || (whichField & WorldFieldMask)) { dJointSetAMotorParam(_JointID, dParamStopCFM3, getStopCFM3()); } }