BlDistanceJoint.cpp

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#include "StdAfx.h"
#include "BlJoint.h"
#include "BlMotorizedJoint.h"
#include "BlRigidBody.h"
#include "BlSphere.h"
#include "BlSimulator.h"
#include "BlDistanceJoint.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                namespace Joints
                {

BlDistanceJoint::BlDistanceJoint()
{
        SetThisPointers();
        m_btDistance = NULL;
}

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

void BlDistanceJoint::SetupGraphics()
{
}

void BlDistanceJoint::SetupPhysics()
{
    //FIX PHYSICS
        if(m_btJoint)
                DeletePhysics(false);

    InitBaseJointPointers(m_lpParent, m_lpChild, m_aryRelaxations, -1);

    //Need to calculate the matrix transform for the joint relative to the child also.
    osg::Matrix jointMT = this->GetOSGWorldMatrix();
    osg::Matrix parentMT = m_lpBlParent->GetOSGWorldMatrix();
    osg::Matrix osgJointRelParent = jointMT * osg::Matrix::inverse(parentMT);

    btTransform tmJointRelParent = osgbCollision::asBtTransform(osgJointRelParent);
    btTransform tmJointRelChild = osgbCollision::asBtTransform(m_osgMT->getMatrix());

        m_btDistance = new btGeneric6DofConstraint(*m_lpBlParent->Part(), *m_lpBlChild->Part(), tmJointRelParent, tmJointRelChild, true); 

    GetBlSimulator()->DynamicsWorld()->addConstraint(m_btDistance, true);
    m_btDistance->setDbgDrawSize(btScalar(5.f));

    //m_btDistance->set

        m_btJoint = m_btDistance;

    Joint::Initialize();
    BlJoint::Initialize();
}

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

#pragma region DataAccesMethods


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

        if(Joint::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 BlDistanceJoint::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        BlJoint::Physics_QueryProperties(aryProperties);
        Joint::QueryProperties(aryProperties);
}

#pragma endregion

                }               //Joints
        }                       // Environment
}                               //BulletAnimatSim