physxPulleyJointDesc.cxx

Go to the documentation of this file.

/**
 * 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 physxPulleyJointDesc.cxx
 * @author enn0x
 * @date 2009-09-28
 */

#include "physxPulleyJointDesc.h"
#include "physxMotorDesc.h"
#include "physxManager.h"

/**
 * Sets the rest length of the rope connecting the two objects.
 */
void PhysxPulleyJointDesc::
set_distance(float distance) {

  _desc.distance = distance;
}

/**
 * Sets how stiff the constraint is, between 0 and 1 (stiffest)
 */
void PhysxPulleyJointDesc::
set_stiffness(float stiffness) {

  _desc.stiffness = stiffness;
}

/**
 * Sets the transmission ratio.
 */
void PhysxPulleyJointDesc::
set_ratio(float ratio) {

  _desc.ratio = ratio;
}

/**
 * Sets or clears a single PulleyJointFlag flag.
 */
void PhysxPulleyJointDesc::
set_flag(PhysxPulleyJointFlag flag, bool value) {

  if (value == true) {
    _desc.flags |= flag;
  }
  else {
    _desc.flags &= ~(flag);
  }
}

/**
 * Sets the suspension points of two bodies in world space.
 */
void PhysxPulleyJointDesc::
set_pulley(unsigned int idx, const LPoint3f pos) {

  nassertv_always(idx < 2);
  _desc.pulley[idx] = PhysxManager::point3_to_nxVec3(pos);
}

/**
 * Sets an optional joint motor.
 */
void PhysxPulleyJointDesc::
set_motor(const PhysxMotorDesc &motor) {

  _desc.motor = motor._desc;
}

/**
 *
 */
float PhysxPulleyJointDesc::
get_distance() const {

  return _desc.distance;
}

/**
 *
 */
float PhysxPulleyJointDesc::
get_stiffness() const {

  return _desc.stiffness;
}

/**
 *
 */
float PhysxPulleyJointDesc::
get_ratio() const {

  return _desc.ratio;
}

/**
 *
 */
bool PhysxPulleyJointDesc::
get_flag(PhysxPulleyJointFlag flag) const {

  return (_desc.flags & flag) ? true : false;
}

/**
 *
 */
LPoint3f PhysxPulleyJointDesc::
get_pulley(unsigned int idx) const {

  nassertr_always(idx < 2, LPoint3f::zero());
  return PhysxManager::nxVec3_to_point3(_desc.pulley[idx]);
}

/**
 *
 */
PhysxMotorDesc PhysxPulleyJointDesc::
get_motor() const {

  PhysxMotorDesc value;
  value._desc = _desc.motor;
  return value;
}