From 2844614e242f0bd948cfc33f34eba72d5d6cc111 Mon Sep 17 00:00:00 2001
From: Josh Wilson <hatjosh@users.sourceforge.net>
Date: Sun, 11 Feb 2007 07:18:48 +0000
Subject: [PATCH] no longer pass-by-reference to get LVecBase3f values, also
 add parallel LVecBase3f functionality

---
 panda/src/ode/odeAMotorJoint.I    |  5 +++++
 panda/src/ode/odeAMotorJoint.h    |  1 +
 panda/src/ode/odeBallJoint.I      | 24 +++++++++++++++++++-----
 panda/src/ode/odeBallJoint.h      |  6 ++++--
 panda/src/ode/odeHinge2Joint.I    | 15 +++++++++++++++
 panda/src/ode/odeHinge2Joint.h    |  3 +++
 panda/src/ode/odeHingeJoint.I     | 15 +++++++++++++++
 panda/src/ode/odeHingeJoint.h     |  3 +++
 panda/src/ode/odeLMotorJoint.I    | 13 ++++++++++---
 panda/src/ode/odeLMotorJoint.h    |  3 ++-
 panda/src/ode/odeSliderJoint.I    | 18 +++++++++++++++---
 panda/src/ode/odeSliderJoint.h    |  4 +++-
 panda/src/ode/odeUniversalJoint.I | 15 +++++++++++++++
 panda/src/ode/odeUniversalJoint.h |  3 +++
 14 files changed, 113 insertions(+), 15 deletions(-)

diff --git a/panda/src/ode/odeAMotorJoint.I b/panda/src/ode/odeAMotorJoint.I
index 5fef72da50..7593d9b19e 100755
--- a/panda/src/ode/odeAMotorJoint.I
+++ b/panda/src/ode/odeAMotorJoint.I
@@ -26,6 +26,11 @@ set_axis(int anum, int rel, dReal x, dReal y, dReal z) {
   dJointSetAMotorAxis(_id, anum, rel, x, y, z);
 }
 
+INLINE void OdeAMotorJoint::
+set_axis(int anum, int rel, const LVecBase3f &axis) {
+  dJointSetAMotorAxis(_id, anum, rel, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeAMotorJoint::
 set_angle(int anum, dReal angle) {
   dJointSetAMotorAngle(_id, anum, angle);
diff --git a/panda/src/ode/odeAMotorJoint.h b/panda/src/ode/odeAMotorJoint.h
index 6178de0bd5..fb339c59d8 100644
--- a/panda/src/ode/odeAMotorJoint.h
+++ b/panda/src/ode/odeAMotorJoint.h
@@ -26,6 +26,7 @@ PUBLISHED:
 
   INLINE void set_num_axes(int num);
   INLINE void set_axis(int anum, int rel, dReal x, dReal y, dReal z);
+  INLINE void set_axis(int anum, int rel, const LVecBase3f &axis);
   INLINE void set_angle(int anum, dReal angle);
   INLINE void set_mode(int mode);
   INLINE void add_torques(dReal torque1, dReal torque2, dReal torque3);
diff --git a/panda/src/ode/odeBallJoint.I b/panda/src/ode/odeBallJoint.I
index e5795dd4f1..841261dc24 100755
--- a/panda/src/ode/odeBallJoint.I
+++ b/panda/src/ode/odeBallJoint.I
@@ -21,17 +21,31 @@ set_anchor(dReal x, dReal y, dReal z) {
   dJointSetBallAnchor(_id, x, y, z);
 }
 
+INLINE void OdeBallJoint::
+set_anchor(const LVecBase3f &anchor) {
+  dJointSetBallAnchor(_id, anchor[0], anchor[1], anchor[2]);
+}
+
 INLINE void OdeBallJoint::
 set_anchor2(dReal x, dReal y, dReal z) {
   dJointSetBallAnchor2(_id, x, y, z);
 }
 
 INLINE void OdeBallJoint::
-get_anchor(dVector3 result) const {
-  return dJointGetBallAnchor(_id, result);
+set_anchor2(const LVecBase3f &anchor) {
+  dJointSetBallAnchor2(_id, anchor[0], anchor[1], anchor[2]);
 }
 
-INLINE void OdeBallJoint::
-get_anchor2(dVector3 result) const {
-  return dJointGetBallAnchor2(_id, result);
+INLINE LVecBase3f OdeBallJoint::
+get_anchor() const {
+  dVector3 result;
+  dJointGetBallAnchor(_id, result);
+  return LVecBase3f(result[0], result[1], result[2]);
+}
+
+INLINE LVecBase3f OdeBallJoint::
+get_anchor2() const {
+  dVector3 result;
+  dJointGetBallAnchor2(_id, result);
+  return LVecBase3f(result[0], result[1], result[2]);
 }
diff --git a/panda/src/ode/odeBallJoint.h b/panda/src/ode/odeBallJoint.h
index 2f00bf922b..957a68df2e 100644
--- a/panda/src/ode/odeBallJoint.h
+++ b/panda/src/ode/odeBallJoint.h
@@ -25,10 +25,12 @@ PUBLISHED:
   virtual ~OdeBallJoint();
 
   INLINE void set_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_anchor(const LVecBase3f &anchor);
   INLINE void set_anchor2(dReal x, dReal y, dReal z);
+  INLINE void set_anchor2(const LVecBase3f &anchor);
 
-  INLINE void get_anchor(dVector3 result) const;
-  INLINE void get_anchor2(dVector3 result) const;
+  INLINE LVecBase3f get_anchor() const;
+  INLINE LVecBase3f get_anchor2() const;
 
 public:
   static TypeHandle get_class_type() {
diff --git a/panda/src/ode/odeHinge2Joint.I b/panda/src/ode/odeHinge2Joint.I
index d5bb5cc7c1..2293a0ce82 100755
--- a/panda/src/ode/odeHinge2Joint.I
+++ b/panda/src/ode/odeHinge2Joint.I
@@ -22,16 +22,31 @@ set_anchor(dReal x, dReal y, dReal z) {
   dJointSetHinge2Anchor(_id, x, y, z);
 }
 
+INLINE void OdeHinge2Joint::
+set_anchor(const LVecBase3f &anchor) {
+  dJointSetHinge2Anchor(_id, anchor[0], anchor[1], anchor[2]);
+}
+
 INLINE void OdeHinge2Joint::
 set_axis1(dReal x, dReal y, dReal z) {
   dJointSetHinge2Axis1(_id, x, y, z);
 }
 
+INLINE void OdeHinge2Joint::
+set_axis1(const LVecBase3f &axis) {
+  dJointSetHinge2Axis1(_id, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeHinge2Joint::
 set_axis2(dReal x, dReal y, dReal z) {
   dJointSetHinge2Axis2(_id, x, y, z);
 }
 
+INLINE void OdeHinge2Joint::
+set_axis2(const LVecBase3f &axis) {
+  dJointSetHinge2Axis2(_id, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeHinge2Joint::
 add_torques(dReal torque1, dReal torque2) {
   dJointAddHinge2Torques(_id, torque1, torque2);
diff --git a/panda/src/ode/odeHinge2Joint.h b/panda/src/ode/odeHinge2Joint.h
index 62ef7bb57e..7211d94dc8 100644
--- a/panda/src/ode/odeHinge2Joint.h
+++ b/panda/src/ode/odeHinge2Joint.h
@@ -25,8 +25,11 @@ PUBLISHED:
   virtual ~OdeHinge2Joint();
 
   INLINE void set_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_anchor(const LVecBase3f &anchor);
   INLINE void set_axis1(dReal x, dReal y, dReal z);
+  INLINE void set_axis1(const LVecBase3f &axis);
   INLINE void set_axis2(dReal x, dReal y, dReal z);
+  INLINE void set_axis2(const LVecBase3f &axis);
   INLINE void add_torques(dReal torque1, dReal torque2);
 
   INLINE LVecBase3f get_anchor() const;
diff --git a/panda/src/ode/odeHingeJoint.I b/panda/src/ode/odeHingeJoint.I
index 1a9da0270d..784c43c8eb 100755
--- a/panda/src/ode/odeHingeJoint.I
+++ b/panda/src/ode/odeHingeJoint.I
@@ -21,16 +21,31 @@ set_anchor(dReal x, dReal y, dReal z) {
   dJointSetHingeAnchor(_id, x, y, z);
 }
 
+INLINE void OdeHingeJoint::
+set_anchor(const LVecBase3f &anchor) {
+  dJointSetHingeAnchor(_id, anchor[0], anchor[1], anchor[2]);
+}
+
 INLINE void OdeHingeJoint::
 set_anchor_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) {
   dJointSetHingeAnchorDelta(_id, x, y, z, ax, ay, az);
 }
 
+INLINE void OdeHingeJoint::
+set_anchor_delta(const LVecBase3f &anchor, const LVecBase3f &vec) {
+  dJointSetHingeAnchorDelta(_id, anchor[0], anchor[1], anchor[2], vec[0], vec[1], vec[2]);
+}
+
 INLINE void OdeHingeJoint::
 set_axis(dReal x, dReal y, dReal z) {
   dJointSetHingeAxis(_id, x, y, z);
 }
 
+INLINE void OdeHingeJoint::
+set_axis(const LVecBase3f &axis) {
+  dJointSetHingeAxis(_id, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeHingeJoint::
 add_torque(dReal torque) {
   dJointAddHingeTorque(_id, torque);
diff --git a/panda/src/ode/odeHingeJoint.h b/panda/src/ode/odeHingeJoint.h
index 7efc277cb4..4b748efaa3 100755
--- a/panda/src/ode/odeHingeJoint.h
+++ b/panda/src/ode/odeHingeJoint.h
@@ -24,8 +24,11 @@ PUBLISHED:
   virtual ~OdeHingeJoint();
 
   INLINE void set_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_anchor(const LVecBase3f &anchor);
   INLINE void set_anchor_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+  INLINE void set_anchor_delta(const LVecBase3f &anchor, const LVecBase3f &vec);
   INLINE void set_axis(dReal x, dReal y, dReal z);
+  INLINE void set_axis(const LVecBase3f &axis);
   INLINE void add_torque(dReal torque);
 
   INLINE LVecBase3f get_anchor() const;
diff --git a/panda/src/ode/odeLMotorJoint.I b/panda/src/ode/odeLMotorJoint.I
index d2ad12075d..21b8c8381a 100755
--- a/panda/src/ode/odeLMotorJoint.I
+++ b/panda/src/ode/odeLMotorJoint.I
@@ -27,6 +27,11 @@ set_axis(int anum, int rel, dReal x, dReal y, dReal z) {
   dJointSetLMotorAxis(_id, anum, rel, x, y, z);
 }
 
+INLINE void OdeLMotorJoint::
+set_axis(int anum, int rel, const LVecBase3f &axis) {
+  dJointSetLMotorAxis(_id, anum, rel, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeLMotorJoint::
 set_param(int parameter, dReal value) {
   dJointSetLMotorParam(_id, parameter, value);
@@ -37,9 +42,11 @@ get_num_axes() const {
   return dJointGetLMotorNumAxes(_id);
 }
 
-INLINE void OdeLMotorJoint::
-get_axis(int anum, dVector3 result) const {
-  return dJointGetLMotorAxis(_id, anum, result);
+INLINE LVecBase3f OdeLMotorJoint::
+get_axis(int anum) const {
+  dVector3 result;
+  dJointGetLMotorAxis(_id, anum, result);
+  return LVecBase3f(result[0], result[1], result[2]);
 }
 
 INLINE dReal OdeLMotorJoint::
diff --git a/panda/src/ode/odeLMotorJoint.h b/panda/src/ode/odeLMotorJoint.h
index 175c938ae3..ffcedda723 100755
--- a/panda/src/ode/odeLMotorJoint.h
+++ b/panda/src/ode/odeLMotorJoint.h
@@ -25,10 +25,11 @@ PUBLISHED:
 
   INLINE void set_num_axes(int num);
   INLINE void set_axis(int anum, int rel, dReal x, dReal y, dReal z);
+  INLINE void set_axis(int anum, int rel, const LVecBase3f &axis);
   INLINE void set_param(int parameter, dReal value);
 
   INLINE int get_num_axes() const;
-  INLINE void get_axis(int anum, dVector3 result) const;
+  INLINE LVecBase3f get_axis(int anum) const;
   INLINE dReal get_param(int parameter) const;
 
 public:
diff --git a/panda/src/ode/odeSliderJoint.I b/panda/src/ode/odeSliderJoint.I
index 681b4c7c09..fbdfa4370d 100755
--- a/panda/src/ode/odeSliderJoint.I
+++ b/panda/src/ode/odeSliderJoint.I
@@ -21,11 +21,21 @@ set_axis(dReal x, dReal y, dReal z) {
   dJointSetSliderAxis(_id, x, y, z);
 }
 
+INLINE void OdeSliderJoint::
+set_axis(const LVecBase3f &axis) {
+  dJointSetSliderAxis(_id, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeSliderJoint::
 set_axis_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) {
   dJointSetSliderAxisDelta(_id, x, y, z, ax, ay, az);
 }
 
+INLINE void OdeSliderJoint::
+set_axis_delta(const LVecBase3f &axis, const LVecBase3f &vec) {
+  dJointSetSliderAxisDelta(_id, axis[0], axis[1], axis[2], vec[0], vec[1], vec[2]);
+}
+
 INLINE void OdeSliderJoint::
 add_force(dReal force) {
   dJointAddSliderForce(_id, force);
@@ -41,9 +51,11 @@ get_position_rate() const {
   return dJointGetSliderPositionRate(_id);
 }
 
-INLINE void OdeSliderJoint::
-get_axis(dVector3 result) const {
-  return dJointGetSliderAxis(_id, result);
+INLINE LVecBase3f OdeSliderJoint::
+get_axis() const {
+  dVector3 result;
+  dJointGetSliderAxis(_id, result);
+  return LVecBase3f(result[0], result[1], result[2]);
 }
 
 INLINE void OdeSliderJoint::
diff --git a/panda/src/ode/odeSliderJoint.h b/panda/src/ode/odeSliderJoint.h
index aae4a90119..3ddd7ab3d7 100755
--- a/panda/src/ode/odeSliderJoint.h
+++ b/panda/src/ode/odeSliderJoint.h
@@ -24,12 +24,14 @@ PUBLISHED:
   virtual ~OdeSliderJoint();
 
   INLINE void set_axis(dReal x, dReal y, dReal z);
+  INLINE void set_axis(const LVecBase3f &axis);
   INLINE void set_axis_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+  INLINE void set_axis_delta(const LVecBase3f &axis, const LVecBase3f &vec);
   INLINE void add_force(dReal force);
 
   INLINE dReal get_position() const;
   INLINE dReal get_position_rate() const;
-  INLINE void get_axis(dVector3 result) const;
+  INLINE LVecBase3f get_axis() const;
 
   INLINE void set_param_lo_stop(dReal val);
   INLINE void set_param_hi_stop(dReal val);
diff --git a/panda/src/ode/odeUniversalJoint.I b/panda/src/ode/odeUniversalJoint.I
index 1a36c32772..a67b151dde 100755
--- a/panda/src/ode/odeUniversalJoint.I
+++ b/panda/src/ode/odeUniversalJoint.I
@@ -21,16 +21,31 @@ set_anchor(dReal x, dReal y, dReal z) {
   dJointSetUniversalAnchor(_id, x, y, z);
 }
 
+INLINE void OdeUniversalJoint::
+set_anchor(const LVecBase3f &anchor) {
+  dJointSetUniversalAnchor(_id, anchor[0], anchor[1], anchor[2]);
+}
+
 INLINE void OdeUniversalJoint::
 set_axis1(dReal x, dReal y, dReal z) {
   dJointSetUniversalAxis1(_id, x, y, z);
 }
 
+INLINE void OdeUniversalJoint::
+set_axis1(const LVecBase3f &axis) {
+  dJointSetUniversalAxis1(_id, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeUniversalJoint::
 set_axis2(dReal x, dReal y, dReal z) {
   dJointSetUniversalAxis2(_id, x, y, z);
 }
 
+INLINE void OdeUniversalJoint::
+set_axis2(const LVecBase3f &axis) {
+  dJointSetUniversalAxis2(_id, axis[0], axis[1], axis[2]);
+}
+
 INLINE void OdeUniversalJoint::
 add_torques(dReal torque1, dReal torque2) {
   dJointAddUniversalTorques(_id, torque1, torque2);
diff --git a/panda/src/ode/odeUniversalJoint.h b/panda/src/ode/odeUniversalJoint.h
index 37900b22bc..fc1870c1af 100644
--- a/panda/src/ode/odeUniversalJoint.h
+++ b/panda/src/ode/odeUniversalJoint.h
@@ -25,8 +25,11 @@ PUBLISHED:
   virtual ~OdeUniversalJoint();
 
   INLINE void set_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_anchor(const LVecBase3f &anchor);
   INLINE void set_axis1(dReal x, dReal y, dReal z);
+  INLINE void set_axis1(const LVecBase3f &axis);
   INLINE void set_axis2(dReal x, dReal y, dReal z);
+  INLINE void set_axis2(const LVecBase3f &axis);
   INLINE void add_torques(dReal torque1, dReal torque2);
 
   INLINE LVecBase3f get_anchor() const;