void UniversalJoint::drawObject(const VisualizationParameterSet& visParams)
{
if(visParams.surfaceStyle == VisualizationParameterSet::PHYSICS_WIREFRAME ||
visParams.surfaceStyle == VisualizationParameterSet::PHYSICS_FLAT ||
visParams.surfaceStyle == VisualizationParameterSet::PHYSICS_SMOOTH ||
visParams.surfaceStyle == VisualizationParameterSet::MIXED_APPEARANCE ||
visParams.surfaceStyle == VisualizationParameterSet::MIXED_PHYSICS)
{
dVector3 tempA;
dJointGetUniversalAnchor(physicalJoint, tempA);
Vector3d tempAnchor(tempA[0],tempA[1], tempA[2]);
dJointGetUniversalAxis1(physicalJoint, tempA);
Vector3d tempAxis1(tempA[0], tempA[1], tempA[2]);
tempAxis1 *= 0.1;
dJointGetUniversalAxis2(physicalJoint, tempA);
Vector3d tempAxis2(tempA[0], tempA[1], tempA[2]);
tempAxis2 *= 0.1;
if(visParams.surfaceStyle == VisualizationParameterSet::MIXED_APPEARANCE)
{
glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
glShadeModel(GL_FLAT);
GLHelper::getGLH()->drawUniversalJoint(tempAnchor, tempAxis1, tempAxis2, true);
glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
glShadeModel(GL_SMOOTH);
}
else
{
GLHelper::getGLH()->drawUniversalJoint(tempAnchor, tempAxis1, tempAxis2, false);
}
}
}
void CUniversalJoint::RenderDebug()
{
if (IsAttached())
{
matrix44 Tfm;
dVector3 CurrAnchor;
dJointGetUniversalAnchor(ODEJointID, CurrAnchor);
Tfm.scale(vector3(0.1f, 0.1f, 0.1f));
Tfm.translate(vector3(CurrAnchor[0], CurrAnchor[1], CurrAnchor[2]));
nGfxServer2::Instance()->DrawShape(nGfxServer2::Sphere, Tfm, GetDebugVisualizationColor());
}
}
static void get_phys_joint_anchor(dJointID j, float *v)
{
dVector3 V = { 0, 0, 0 };
switch (dJointGetType(j))
{
case dJointTypeBall: dJointGetBallAnchor (j, V); break;
case dJointTypeHinge: dJointGetHingeAnchor (j, V); break;
case dJointTypeHinge2: dJointGetHinge2Anchor (j, V); break;
case dJointTypeUniversal: dJointGetUniversalAnchor(j, V); break;
default: break;
}
v[0] = (float) V[0];
v[1] = (float) V[1];
v[2] = (float) V[2];
}
void
dxJointUniversal::setRelativeValues()
{
dVector3 anchor;
dJointGetUniversalAnchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
dVector3 ax1,ax2;
dJointGetUniversalAxis1(this, ax1);
dJointGetUniversalAxis2(this, ax2);
if ( flags & dJOINT_REVERSE )
{
setAxes( this, ax1[0],ax1[1],ax1[2], NULL, axis2 );
setAxes( this, ax2[0],ax2[1],ax2[2], axis1, NULL );
}
else
{
setAxes( this, ax1[0],ax1[1],ax1[2], axis1, NULL );
setAxes( this, ax2[0],ax2[1],ax2[2], NULL, axis2 );
}
computeInitialRelativeRotations();
}
soyatomsPosition* soy_joints_universal_get_anchor (soyjointsUniversal* self) {
soyatomsPosition* result;
dxVector3* _tmp0_;
dxVector3* v;
struct dxJoint* _tmp1_;
dxVector3* _tmp2_;
soyatomsPosition* _tmp3_;
soyatomsPosition* _tmp4_;
soyatomsPosition* value;
gboolean _tmp5_ = FALSE;
gboolean _tmp6_ = FALSE;
gboolean _tmp7_ = FALSE;
soyatomsPosition* _tmp8_;
gboolean _tmp14_;
gboolean _tmp20_;
gboolean _tmp26_;
g_return_val_if_fail (self != NULL, NULL);
_tmp0_ = dvector3_new ();
v = _tmp0_;
_tmp1_ = ((soyjointsJoint*) self)->joint;
_tmp2_ = v;
dJointGetUniversalAnchor ((struct dxJoint*) _tmp1_, _tmp2_);
_tmp3_ = self->priv->_anchor_obj;
_tmp4_ = _g_object_ref0 (_tmp3_);
value = _tmp4_;
_tmp8_ = value;
if (_tmp8_ == NULL) {
_tmp7_ = TRUE;
} else {
dxVector3* _tmp9_;
dReal _tmp10_;
soyatomsPosition* _tmp11_;
gfloat _tmp12_;
gfloat _tmp13_;
_tmp9_ = v;
_tmp10_ = _tmp9_->x;
_tmp11_ = value;
_tmp12_ = soy_atoms_position_get_x (_tmp11_);
_tmp13_ = _tmp12_;
_tmp7_ = ((gfloat) _tmp10_) != _tmp13_;
}
_tmp14_ = _tmp7_;
if (_tmp14_) {
_tmp6_ = TRUE;
} else {
dxVector3* _tmp15_;
dReal _tmp16_;
soyatomsPosition* _tmp17_;
gfloat _tmp18_;
gfloat _tmp19_;
_tmp15_ = v;
_tmp16_ = _tmp15_->y;
_tmp17_ = value;
_tmp18_ = soy_atoms_position_get_y (_tmp17_);
_tmp19_ = _tmp18_;
_tmp6_ = ((gfloat) _tmp16_) != _tmp19_;
}
_tmp20_ = _tmp6_;
if (_tmp20_) {
_tmp5_ = TRUE;
} else {
dxVector3* _tmp21_;
dReal _tmp22_;
soyatomsPosition* _tmp23_;
gfloat _tmp24_;
gfloat _tmp25_;
_tmp21_ = v;
_tmp22_ = _tmp21_->z;
_tmp23_ = value;
_tmp24_ = soy_atoms_position_get_z (_tmp23_);
_tmp25_ = _tmp24_;
_tmp5_ = ((gfloat) _tmp22_) != _tmp25_;
}
_tmp26_ = _tmp5_;
if (_tmp26_) {
soyatomsPosition* _tmp27_;
dxVector3* _tmp31_;
dReal _tmp32_;
dxVector3* _tmp33_;
dReal _tmp34_;
dxVector3* _tmp35_;
dReal _tmp36_;
soyatomsPosition* _tmp37_;
soyatomsPosition* _tmp38_;
soyatomsPosition* _tmp39_;
soyatomsPosition* _tmp40_;
_tmp27_ = value;
if (_tmp27_ != NULL) {
soyatomsPosition* _tmp28_;
guint _tmp29_ = 0U;
soyatomsPosition* _tmp30_;
_tmp28_ = self->priv->_anchor_obj;
g_signal_parse_name ("on-set", SOY_ATOMS_TYPE_POSITION, &_tmp29_, NULL, FALSE);
g_signal_handlers_disconnect_matched (_tmp28_, G_SIGNAL_MATCH_ID | G_SIGNAL_MATCH_FUNC | G_SIGNAL_MATCH_DATA, _tmp29_, 0, NULL, (GCallback) __soy_joints_universal_anchor_set_soy_atoms_position_on_set, self);
_tmp30_ = self->priv->_anchor_obj;
g_object_weak_unref ((GObject*) _tmp30_, __soy_joints_universal_anchor_weak_gweak_notify, self);
}
_tmp31_ = v;
_tmp32_ = _tmp31_->x;
_tmp33_ = v;
_tmp34_ = _tmp33_->y;
_tmp35_ = v;
_tmp36_ = _tmp35_->z;
_tmp37_ = soy_atoms_position_new ((gfloat) _tmp32_, (gfloat) _tmp34_, (gfloat) _tmp36_);
_g_object_unref0 (value);
value = _tmp37_;
_tmp38_ = value;
g_signal_connect_object (_tmp38_, "on-set", (GCallback) __soy_joints_universal_anchor_set_soy_atoms_position_on_set, self, 0);
_tmp39_ = value;
g_object_weak_ref ((GObject*) _tmp39_, __soy_joints_universal_anchor_weak_gweak_notify, self);
_tmp40_ = value;
self->priv->_anchor_obj = _tmp40_;
}
result = value;
_dvector3_free0 (v);
return result;
}
