From c9d3242314248bfe065209cd1738803fa96eaaa2 Mon Sep 17 00:00:00 2001
From: josh <josh@bd8a9e45-a331-0410-811e-c64571078777>
Date: Sun, 31 Jan 2010 06:07:36 +0000
Subject: [PATCH] added support for hinge joints with anchor and axis

git-svn-id: svn://anubis/misc/OdeWorld@228 bd8a9e45-a331-0410-811e-c64571078777
---
 OdeWorld.cc | 11 +++++++++++
 OdeWorld.h  | 10 ++++++++++
 2 files changed, 21 insertions(+)

diff --git a/OdeWorld.cc b/OdeWorld.cc
index 342c2a9..65681b3 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -115,6 +115,17 @@ dJointID OdeWorld::createAMotor(dBodyID b1, dBodyID b2)
     return j;
 }
 
+dJointID OdeWorld::createHinge(dBodyID b1, dBodyID b2,
+        dReal anchor_x, dReal anchor_y, dReal anchor_z,
+        dReal axis_x, dReal axis_y, dReal axis_z)
+{
+    dJointID j = dJointCreateHinge(m_world, 0);
+    dJointAttach(j, b1, b2);
+    dJointSetHingeAnchor(j, anchor_x, anchor_y, anchor_z);
+    dJointSetHingeAxis(j, axis_x, axis_y, axis_z);
+    return j;
+}
+
 void OdeWorld::destroyBody(dBodyID body)
 {
     m_bodies.erase(body);
diff --git a/OdeWorld.h b/OdeWorld.h
index cf6934b..da0165d 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -84,6 +84,9 @@ class OdeWorld
         void enableAllBodies();
         dWorldID getWorldID() { return m_world; }
         dJointID createAMotor(dBodyID b1, dBodyID b2);
+        dJointID createHinge(dBodyID b1, dBodyID b2,
+                dReal anchor_x, dReal anchor_y, dReal anchor_z,
+                dReal axis_x, dReal axis_y, dReal axis_z);
         void setAMotorNumAxes(dJointID j, int num_axes)
         {
 #ifdef DEBUG_AMOTOR
@@ -91,6 +94,13 @@ class OdeWorld
 #endif
             dJointSetAMotorNumAxes(j, num_axes);
         }
+        void setAMotorAngle(dJointID j, int anum, dReal val)
+        {
+#ifdef DEBUG_AMOTOR
+            cout << "angle: " << val << endl;
+#endif
+            dJointSetAMotorAngle(j, anum, val);
+        }
         void setAMotorAxis(dJointID j, int anum, int rel,
                 dReal x, dReal y, dReal z)
         {