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hingejoint_c.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: hingejoint_c.cpp,v 1.4 2005/12/31 13:53:56 jboedeck Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 #include "hingejoint.h"
00023 
00024 using namespace boost;
00025 using namespace oxygen;
00026 using namespace salt;
00027 
00028 
00029 FUNCTION(HingeJoint,setAnchor)
00030 {
00031     Vector3f inAnchor;
00032 
00033     if (
00034         (in.GetSize() == 0) ||
00035         (! in.GetValue(in.begin(), inAnchor))
00036         )
00037         {
00038             return false;
00039         }
00040 
00041     obj->SetAnchor(inAnchor);
00042     return true;
00043 }
00044 
00045 FUNCTION(HingeJoint,getAngle)
00046 {
00047     return obj->GetAngle();
00048 }
00049 
00050 FUNCTION(HingeJoint,getAngleRate)
00051 {
00052     return obj->GetAngleRate();
00053 }
00054 
00055 FUNCTION(HingeJoint,setAxis)
00056 {
00057     // 0 = x-axis, 1 = y-axis, 2 = z-axis
00058     int inAxis;
00059 
00060     // test if we got a parameter and get the value
00061     if (
00062         (in.GetSize() == 0) ||
00063         (! in.GetValue(in.begin(), inAxis))
00064         )
00065         {
00066             return false;
00067         }
00068 
00069     obj->SetAxis(static_cast<Joint::EAxisIndex>(inAxis));
00070     return true;
00071 }
00072 
00073 void CLASS(HingeJoint)::DefineClass()
00074 {
00075     DEFINE_BASECLASS(oxygen/Joint);
00076     DEFINE_FUNCTION(setAnchor);
00077     DEFINE_FUNCTION(getAngle);
00078     DEFINE_FUNCTION(getAngleRate);
00079     DEFINE_FUNCTION(setAxis);
00080 }

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