VsRPRO.cpp

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#include "StdAfx.h"
#include "VsMovableItem.h"
#include "VsBody.h"
#include "VsJoint.h"
#include "VsMotorizedJoint.h"
#include "VsRigidBody.h"
#include "VsRPRO.h"
#include "VsSimulator.h"
#include "VsDragger.h"

namespace VortexAnimatSim
{
        namespace Environment
        {
                namespace Joints
                {

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

VsRPRO::~VsRPRO()
{

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

void VsRPRO::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 VsRPRO::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(), vMT);
        Vx::VxTransform vTrans(vMT);

    VxVector3 vPos((double) vGlobal.x, (double) vGlobal.y, (double)  vGlobal.z); 

        m_vxSocket = new VxRPRO();
        m_vxSocket->setName(m_strID.c_str());
        m_vxSocket->setParts(lpVsParent->Part(), lpVsChild->Part());
        m_vxSocket->setPosition(vPos);

        VxReal3 aryStrength;
        aryStrength[0] = aryStrength[1] = aryStrength[2] = VX_INFINITY;

        Vx::VxQuaternion q;
        m_vxSocket->setRelativeQuaternionFromPart();

        m_vxSocket->setLinearStrength(aryStrength);
        m_vxSocket->setAngularStrength(aryStrength);

        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 VsRPRO::CreateJoint()
{
        SetupGraphics();
        SetupPhysics();
}

#pragma region DataAccesMethods

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

        if(RPRO::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 VsRPRO::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        VsJoint::Physics_QueryProperties(aryProperties);
        RPRO::QueryProperties(aryProperties);
}

#pragma endregion

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