source/SoJointBall.cpp

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/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "../include/IPSA/SoJointBall.h"
#include "../include/IPSA/SoPhysics.h"

#include <Inventor/nodes/SoSphere.h>
#include <Inventor/nodes/SoTranslation.h>
#include <Inventor/nodekits/SoShapeKit.h>
#include <Inventor/actions/SoCallbackAction.h>

#include <cassert>

SO_KIT_SOURCE(SoJointBall);

void SoJointBall::initClass()
{
                SO_KIT_INIT_CLASS(SoJointBall, SoJoint, "Joint");
}


SoJointBall::SoJointBall(const SbString& BodyOne, const SbString& BodyTwo, const SbString& nodeName)
: SoJoint(BodyOne,BodyTwo,nodeName)
{
                SO_KIT_CONSTRUCTOR(SoJointBall);
                isBuiltIn = TRUE;

                SO_KIT_ADD_FIELD(soAnchor,(0.0,0.0,0.0));
                SO_KIT_ADD_FIELD(CFM,(INIT_CFM));
                SO_KIT_ADD_FIELD(ERP,(INIT_ERP));

                SO_KIT_INIT_INSTANCE();

    updateOdeParametersTrigger.appendConnection(&CFM);
    updateOdeParametersTrigger.appendConnection(&ERP);
}


void SoJointBall::setParams()
{
                // Ball only supports CFM and ERP
                dJointSetBallParam(soJointId,dParamCFM,CFM.getValue());
                dJointSetBallParam(soJointId,dParamERP,ERP.getValue());
}


void SoJointBall::createOdeJoint(const dWorldID soWorldId)
{
    soJointId = dJointCreateBall(soWorldId, soJointGroupId);
}


void SoJointBall::updateOdeJointProperties(const SbMatrix& modelMatrix)
{
    // get translation and rotation from coin
    // to translate and rotate anchor
    SbVec3f anchorbase = soAnchor.getValue();
    SbVec3f ranchorbase;

    SbMatrix mm = modelMatrix;
    mm.multVecMatrix(anchorbase, ranchorbase);  // Transformation: rotate first and translate the anchor

    dJointSetBallAnchor(soJointId, ranchorbase[0], ranchorbase[1], ranchorbase[2]);
}


SoNode* SoJointBall::createVisualisation()
{
                SoShapeKit* result = new SoShapeKit;

                SoSphere* sphere = new SoSphere;
                sphere->radius.setValue(30 * VisualisationScale.getValue());
                result->setPart("shape", sphere);

                SoTranslation* translation = new SoTranslation;
                translation->translation.setValue(this->soAnchor.getValue());
                result->setPart("transform", translation);

                return result;
}

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