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More PyODE-like feedback system

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rdb 2009-10-01 18:17:35 +00:00
parent 34729b3495
commit 5d5a131026
2 changed files with 16 additions and 2 deletions
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14
panda/src/ode/odeJoint.I
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@ -52,6 +52,20 @@ get_joint_type() const {
return dJointGetType(_id);
}
INLINE void OdeJoint::
set_feedback(bool flag) {
if (flag) {
if (dJointGetFeedback(_id) != NULL) {
return;
}
OdeJointFeedback* feedback = new OdeJointFeedback;
dJointSetFeedback(_id, (dJointFeedback*) feedback);
} else if (dJointFeedback* feedback = dJointGetFeedback(_id)) {
dJointSetFeedback(_id, NULL);
delete feedback;
}
}
INLINE void OdeJoint::
set_feedback(OdeJointFeedback *feedback) {
dJointSetFeedback(_id, feedback);

4
panda/src/ode/odeJoint.h
View File

@ -23,14 +23,13 @@
#include "odeWorld.h" // Needed for derived classes
#include "odeJointGroup.h"
BEGIN_PUBLISH
class EXPCL_PANDAODE OdeJointFeedback : public dJointFeedback {
PUBLISHED:
INLINE const LVector3f get_force1() const { return LVector3f(f1[0], f1[1], f1[2]); };
INLINE const LVector3f get_force2() const { return LVector3f(f2[0], f2[1], f2[2]); };
INLINE const LVector3f get_torque1() const { return LVector3f(t1[0], t1[1], t1[2]); };
INLINE const LVector3f get_torque2() const { return LVector3f(t2[0], t2[1], t2[2]); };
};
END_PUBLISH
// Strange, we should be forced to include this by get_body()
class OdeBody;
@ -85,6 +84,7 @@ PUBLISHED:
INLINE int get_joint_type() const;
OdeBody get_body(int index) const;
INLINE void set_feedback(OdeJointFeedback *);
INLINE void set_feedback(bool flag = true);
INLINE OdeJointFeedback *get_feedback();
void attach_bodies(const OdeBody &body1, const OdeBody &body2);