joints.inl

Go to the documentation of this file.

/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

inline
int Joint::GetDimension() const {
    return m_dimension;
}

inline
int Joint::GetBodyCount() const {
    return m_body_count;
}

inline
RigidBody *Joint::GetBody(int n) {
    assert(n >= 0 && n < m_body_count);

    return m_bodies[n];
}

inline
Matrix *Joint::GetJ(const RigidBody *body) const {
    assert(body);

    // Number of bodies is usually very small (typically two),
    // so that looking for a body with a linear search doesn't
    // hurt much.

    for(int i = 0; i < m_body_count; i++) {
        if(m_bodies[i] == body)
            return m_j[i];
    }

    return m_zero;
}

inline Vector *Joint::GetC() const {
    return m_c;
}

inline
FixedPathJoint::~FixedPathJoint() {
    delete [] m_ccp;
}

---