source/SoJointFixed.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/SoJointFixed.h"
#include "../include/IPSA/SoPhysics.h"

#include <Inventor/nodes/SoNode.h>

SO_KIT_SOURCE(SoJointFixed);

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

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

                SO_KIT_ADD_FIELD(soFixed,(true));

                SO_KIT_INIT_INSTANCE();
}


void SoJointFixed::createOdeJoint(const dWorldID soWorldId)
{
    soJointId = dJointCreateFixed(soWorldId, soJointGroupId);
}


void SoJointFixed::updateOdeJointProperties(const SbMatrix& modelMatrix)
{
    if (TRUE == soFixed.getValue())
        dJointSetFixed(this->soJointId);
}

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