VsUniversal.cpp

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#include "StdAfx.h"
#include "VsMovableItem.h"
#include "VsBody.h"
#include "VsJoint.h"
#include "VsMotorizedJoint.h"
#include "VsRigidBody.h"
#include "VsSphere.h"
#include "VsStructure.h"
#include "VsSimulator.h"
#include "VsOsgUserData.h"
#include "VsOsgUserDataVisitor.h"
#include "VsDragger.h"
#include "VsUniversal.h"


namespace VortexAnimatSim
{
        namespace Environment
        {
                namespace Joints
                {

VsUniversal::VsUniversal()
{
        SetThisPointers();
        m_vxSocket = NULL;
}

VsUniversal::~VsUniversal()
{
        try
        {
                DeleteGraphics();
                DeletePhysics();
        }
        catch(...)
        {Std_TraceMsg(0, "Caught Error in desctructor of VsUniversal/\r\n", "", -1, false, true);}
}

void VsUniversal::DeletePhysics()
{
        if(!m_vxSocket)
                return;

        if(GetVsSimulator() && GetVsSimulator()->Universe())
        {
                GetVsSimulator()->Universe()->removeConstraint(m_vxSocket);
                delete m_vxSocket;

                if(m_lpChild && m_lpParent)
                        m_lpChild->EnableCollision(m_lpParent);
        }

        m_vxSocket = NULL;
        m_vxJoint = NULL;
}

void VsUniversal::SetupPhysics()
{
        if(m_vxSocket)
                DeletePhysics();

        if(!m_lpParent)
                THROW_ERROR(Al_Err_lParentNotDefined, Al_Err_strParentNotDefined);

        if(!m_lpChild)
                THROW_ERROR(Al_Err_lChildNotDefined, Al_Err_strChildNotDefined);

        VsRigidBody *lpVsParent = dynamic_cast<VsRigidBody *>(m_lpParent);
        if(!lpVsParent)
                THROW_ERROR(Vs_Err_lUnableToConvertToVsRigidBody, Vs_Err_strUnableToConvertToVsRigidBody);

        VsRigidBody *lpVsChild = dynamic_cast<VsRigidBody *>(m_lpChild);
        if(!lpVsChild)
                THROW_ERROR(Vs_Err_lUnableToConvertToVsRigidBody, Vs_Err_strUnableToConvertToVsRigidBody);

        CStdFPoint vGlobal = this->GetOSGWorldCoords();
        
        Vx::VxReal44 vMT;
        VxOSG::copyOsgMatrix_to_VxReal44(this->GetOSGWorldMatrix(true), vMT);
        Vx::VxTransform vTrans(vMT);
        Vx::VxReal3 vxRot;
        vTrans.getRotationEulerAngles(vxRot);

        CStdFPoint vLocalRot(vxRot[0], vxRot[1], vxRot[2]); //= m_lpThisMI->Rotation();

    VxVector3 pos((double) vGlobal.x, (double) vGlobal.y, (double)  vGlobal.z); 
        VxVector3 axis = NormalizeAxis(vLocalRot);

        //m_vxSocket = new VxUniversal(lpVsParent->Part(), lpVsChild->Part(), pos.v, VxVector3(1, 0, 0), VxVector3(0, 1, 0)); 
        m_vxSocket = new VxHomokinetic(lpVsParent->Part(), lpVsChild->Part(), pos.v, axis.v); 
        m_vxSocket->setName(m_strID.c_str());

        GetVsSimulator()->Universe()->addConstraint(m_vxSocket);

        //Disable collisions between this object and its parent
        m_lpChild->DisableCollision(m_lpParent);

        m_vxJoint = m_vxSocket;
        m_iCoordID = -1; //Not used fo
}

void VsUniversal::CreateJoint()
{
        SetupGraphics();
        SetupPhysics();
}

#pragma region DataAccesMethods


bool VsUniversal::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        if(VsJoint::Physics_SetData(strDataType, strValue))
                return true;

        if(BallSocket::SetData(strDataType, strValue, false))
                return true;

        //If it was not one of those above then we have a problem.
        if(bThrowError)
                THROW_PARAM_ERROR(Al_Err_lInvalidDataType, Al_Err_strInvalidDataType, "Data Type", strDataType);

        return false;
}

void VsUniversal::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        VsJoint::Physics_QueryProperties(aryProperties);
        BallSocket::QueryProperties(aryProperties);
}

#pragma endregion

                }               //Joints
        }                       // Environment
}                               //VortexAnimatSim