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odeJoint.I
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84 lines (74 loc) · 1.75 KB
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/**
* 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."
*
* @file odeJoint.I
* @author joswilso
* @date 2006-12-27
*/
/**
* 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);
}
/**
* 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) != nullptr) {
return;
}
OdeJointFeedback* feedback = new OdeJointFeedback;
dJointSetFeedback(_id, (dJointFeedback*) feedback);
} else if (dJointFeedback* feedback = dJointGetFeedback(_id)) {
dJointSetFeedback(_id, nullptr);
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;
}