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odeJoint.I
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executable file
·90 lines (80 loc) · 2.32 KB
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// Filename: odeJoint.I
// Created by: joswilso (27Dec06)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) Carnegie Mellon University. All rights reserved.
//
// All use of this software is subject to the terms of the revised BSD
// license. You should have received a copy of this license along
// with this source code in a file named "LICENSE."
//
////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////
// Function: OdeJoint::is_empty
// Access: Published
// Description: Returns true if the ID is 0, meaning the OdeJoint
// does not point to a valid joint. It is an error to
// call a method on an empty joint.
// Note that an empty OdeJoint also evaluates to False.
////////////////////////////////////////////////////////////////////
INLINE bool OdeJoint::
is_empty() const {
return (_id == 0);
}
////////////////////////////////////////////////////////////////////
// Function: OdeJoint::get_id
// Access: Published
// Description: Returns the underlying dJointID.
////////////////////////////////////////////////////////////////////
INLINE dJointID OdeJoint::
get_id() const {
return _id;
}
/*
INLINE void OdeJoint::
set_data(void *data) {
dJointSetData(_id, data);
}
INLINE void *OdeJoint::
get_data() {
return dJointGetData(_id);
}
*/
INLINE int OdeJoint::
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);
}
INLINE OdeJointFeedback *OdeJoint::
get_feedback() {
return (OdeJointFeedback*) dJointGetFeedback(_id);
}
INLINE int OdeJoint::
compare_to(const OdeJoint &other) const {
if (_id != other._id) {
return _id < other._id ? -1 : 1;
}
return 0;
}
INLINE bool OdeJoint::
operator == (const OdeJoint &other) const {
return _id == other._id;
}