BlRPRO.cpp

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#include "StdAfx.h"
#include "BlJoint.h"
#include "BlMotorizedJoint.h"
#include "BlRigidBody.h"
#include "BlRPRO.h"
#include "BlSimulator.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                namespace Joints
                {

BlRPRO::BlRPRO()
{
        SetThisPointers();
        //m_btSocket = NULL;
}

BlRPRO::~BlRPRO()
{

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

void BlRPRO::SetupPhysics()
{
        if(m_btJoint)
                DeletePhysics(false);

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

    btTransform mtJointRelParent, mtJointRelChild;
    CalculateRelativeJointMatrices(mtJointRelParent, mtJointRelChild);

    //All limits are turned off by default.
        m_btSocket = new btAnimatGeneric6DofConstraint(*m_lpBlParent->Part(), *m_lpBlChild->Part(), mtJointRelParent, mtJointRelChild, true); 
    m_btSocket->setLinearLowerLimit(btVector3(0, 0, 0));
    m_btSocket->setLinearUpperLimit(btVector3(0, 0, 0));
    m_btSocket->setAngularLowerLimit(btVector3(0, 0, 0));
    m_btSocket->setAngularUpperLimit(btVector3(0, 0, 0));

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

        m_btJoint = m_btSocket;
    m_bt6DofJoint = m_btSocket;

    RPRO::Initialize();
    BlJoint::Initialize();
}

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

#pragma region DataAccesMethods

bool BlRPRO::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        if(BlJoint::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 BlRPRO::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        BlJoint::Physics_QueryProperties(aryProperties);
        RPRO::QueryProperties(aryProperties);
}

#pragma endregion

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