phyjoint.cpp

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#include "phyjoint.h"
#include "private/phyjointprivate.h"
#include "private/phyobjectprivate.h"
#include "private/worldprivate.h"

#ifdef FARSA_DEBUG
    #include <QDebug>
#endif

namespace farsa {
PhyJoint::PhyJoint( PhyObject* parent, PhyObject* child ) :
    dofsv(),
    dofv(0)
{
    priv = new PhyJointPrivate();
    this->parentv = parent;
    if ( parentv == 0 ) {
        parentpriv = 0;
        priv->parent = 0;
    } else {
        parentpriv = parentv->priv;
        priv->parent = parentpriv->body;
    }
    this->childv = child;
    childpriv = child->priv;
    priv->child = childpriv->body;
    this->worldv = childv->world();
    worldpriv = worldv->priv;
    enabled = true;
    worldv->pushJoint( this );
}

PhyJoint::~PhyJoint() {
    worldv->popJoint( this );
#ifdef WORLDSIM_USE_NEWTON
    NewtonDestroyJoint( worldpriv->world, priv->joint);
#endif
    delete priv;
    foreach( PhyDOF* dof, dofsv ) {
        delete dof;
    }
}

void PhyJoint::enable( bool b ) {
//  if ( enabled == b ) return;
    enabled = b;
// #ifdef WORLDSIM_USE_NEWTON
// What do these callbacks do?!?!?!?!?!?
//  if ( b ) {
//      NewtonUserJointSetFeedbackCollectorCallback( priv->joint, PhyJointPrivate::userBilateralHandler );
//  } else {
//      NewtonUserJointSetFeedbackCollectorCallback( priv->joint, 0 );
//  }
// #endif
}

} // end namespace farsa