Add initial prototype.
This commit is contained in:
Rod Kay
@@ -0,0 +1,949 @@
|
||||
with
|
||||
bullet_c.Binding,
|
||||
bullet_physics.Object,
|
||||
|
||||
c_math_c.Vector_3,
|
||||
c_math_c.Matrix_4x4,
|
||||
c_math_c.Conversion,
|
||||
|
||||
Swig,
|
||||
interfaces.C,
|
||||
|
||||
ada.unchecked_Conversion,
|
||||
ada.unchecked_Deallocation,
|
||||
ada.Text_IO;
|
||||
|
||||
package body bullet_Physics.Joint
|
||||
is
|
||||
use c_math_c.Conversion,
|
||||
bullet_c.Binding,
|
||||
Interfaces,
|
||||
ada.Text_IO;
|
||||
|
||||
|
||||
type Any_limited_view is access all lace.Any.limited_item'Class;
|
||||
|
||||
function to_Any_view is new ada.unchecked_Conversion (Swig.void_ptr, Any_limited_view);
|
||||
function to_Object_view is new ada.unchecked_Conversion (swig.void_ptr, physics.Object.view);
|
||||
pragma Unreferenced (to_Object_view);
|
||||
|
||||
|
||||
--------------
|
||||
-- Joint.item
|
||||
--
|
||||
|
||||
overriding
|
||||
function reaction_Force (Self : in Item) return Vector_3
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return math.Origin_3D;
|
||||
end reaction_Force;
|
||||
|
||||
|
||||
overriding
|
||||
function reaction_Torque (Self : in Item) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end reaction_Torque;
|
||||
|
||||
|
||||
overriding
|
||||
procedure user_Data_is (Self : in out Item; Now : access lace.Any.limited_item'Class)
|
||||
is
|
||||
begin
|
||||
Self.user_Data := Now;
|
||||
end user_Data_is;
|
||||
|
||||
|
||||
overriding
|
||||
function user_Data (Self : in Item) return access lace.Any.limited_item'Class
|
||||
is
|
||||
begin
|
||||
return Self.user_Data;
|
||||
end user_Data;
|
||||
|
||||
|
||||
--------
|
||||
-- DoF6
|
||||
--
|
||||
|
||||
function new_Dof6_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view
|
||||
is
|
||||
Self : constant DoF6_view := new DoF6;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
|
||||
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
|
||||
|
||||
begin
|
||||
Self.C := b3d_new_DoF6_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Frame_A'unchecked_Access,
|
||||
c_Frame_B'unchecked_Access);
|
||||
return Self;
|
||||
end new_Dof6_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out DoF6)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in DoF6) return physics.Object.view
|
||||
is
|
||||
c_Object_A : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_A (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in DoF6) return physics.Object.view
|
||||
is
|
||||
c_Object_B : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_B (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in DoF6) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_A (Self.C);
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in DoF6) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_B (Self.C);
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out DoF6; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out DoF6; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in DoF6; DoF : in Degree_of_freedom) return Boolean
|
||||
is
|
||||
use type Swig.bool;
|
||||
begin
|
||||
return b3d_Joint_is_Limited (Self.C,
|
||||
Degree_of_freedom'Pos (DoF)) /= 0;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
b3d_Joint_Velocity_is (Self.C, C.int (DoF),
|
||||
c_math_c.Real (Now));
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in DoF6; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in DoF6; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
return Real (b3d_Joint_6DoF_lower_Limit (Self.C, C.int (DoF)));
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in DoF6; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
return Real (b3d_Joint_6DoF_upper_Limit (Self.C, C.int (DoF)));
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
b3d_Joint_6DoF_lower_Limit_is (Self.C, C.int (DoF),
|
||||
c_math_c.Real (Now));
|
||||
end lower_Limit_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
b3d_Joint_6DoF_upper_Limit_is (Self.C, C.int (DoF),
|
||||
c_math_c.Real (Now));
|
||||
end upper_Limit_is;
|
||||
|
||||
|
||||
--------
|
||||
-- Ball
|
||||
--
|
||||
|
||||
function new_Ball_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Pivot_in_A, Pivot_in_B : in Vector_3) return physics.Joint.ball.view
|
||||
is
|
||||
Self : constant Ball_view := new Ball;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
|
||||
|
||||
c_Pivot_in_A : aliased c_math_c.Vector_3.item := +Pivot_in_A;
|
||||
c_Pivot_in_B : aliased c_math_c.Vector_3.item := +Pivot_in_B;
|
||||
|
||||
begin
|
||||
Self.C := b3d_new_ball_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Pivot_in_A'unchecked_Access,
|
||||
c_Pivot_in_B'unchecked_Access);
|
||||
return Self;
|
||||
end new_Ball_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Ball)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Ball) return physics.Object.view
|
||||
is
|
||||
c_Object_A : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_A (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in Ball) return physics.Object.view
|
||||
is
|
||||
c_Object_B : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_B (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Ball) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_A (Self.C);
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in Ball) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_B (Self.C);
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Ball; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Ball; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Ball; DoF : in Degree_of_freedom) return Boolean
|
||||
is
|
||||
use type Swig.bool;
|
||||
begin
|
||||
return b3d_Joint_is_Limited (Self.C,
|
||||
Degree_of_freedom'Pos (DoF)) /= 0;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
b3d_Joint_Velocity_is (Self.C, C.int (Now),
|
||||
c_math_c.Real (DoF));
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in Ball; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Program_Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in Ball; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in Ball; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end lower_Limit_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end upper_Limit_is;
|
||||
|
||||
|
||||
----------
|
||||
-- Slider
|
||||
--
|
||||
|
||||
function new_Slider_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.slider.view
|
||||
is
|
||||
Self : constant Slider_view := new Slider;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
|
||||
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
|
||||
begin
|
||||
Self.C := b3d_new_slider_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Frame_A'Unchecked_Access,
|
||||
c_Frame_B'Unchecked_Access);
|
||||
return Self;
|
||||
end new_Slider_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Slider)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Slider) return physics.Object.view
|
||||
is
|
||||
c_Object_A : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_A (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in Slider) return physics.Object.view
|
||||
is
|
||||
c_Object_B : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_B (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Slider) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_A (Self.C);
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in Slider) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_B (Self.C);
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Slider; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Slider; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Slider; DoF : in Degree_of_freedom) return Boolean
|
||||
is
|
||||
use type Swig.bool;
|
||||
begin
|
||||
return b3d_Joint_is_Limited (Self.C,
|
||||
Degree_of_freedom'Pos (DoF)) /= 0;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
b3d_Joint_Velocity_is (Self.C, C.int (Now),
|
||||
c_math_c.Real (DoF));
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in Slider; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in Slider; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in Slider; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end lower_Limit_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end upper_Limit_is;
|
||||
|
||||
|
||||
--------------
|
||||
-- cone_Twist
|
||||
--
|
||||
|
||||
function new_cone_Twist_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view
|
||||
is
|
||||
Self : constant cone_Twist_view := new cone_Twist;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
|
||||
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
|
||||
begin
|
||||
Self.C := b3d_new_DoF6_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Frame_A'unchecked_Access,
|
||||
c_Frame_B'unchecked_Access);
|
||||
return Self;
|
||||
end new_cone_Twist_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out cone_Twist)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in cone_Twist) return physics.Object.view
|
||||
is
|
||||
c_Object_A : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_A (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in cone_Twist) return physics.Object.view
|
||||
is
|
||||
c_Object_B : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_B (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in cone_Twist) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_A (Self.C);
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in cone_Twist) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_B (Self.C);
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out cone_Twist; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out cone_Twist; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in cone_Twist; DoF : Degree_of_freedom) return Boolean
|
||||
is
|
||||
use type Swig.bool;
|
||||
begin
|
||||
return b3d_Joint_is_Limited (Self.C,
|
||||
Degree_of_freedom'Pos (DoF)) /= 0;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
b3d_Joint_Velocity_is (Self.C, C.int (Now),
|
||||
c_math_c.Real (DoF));
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in cone_Twist; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in cone_Twist; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in cone_Twist; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end lower_Limit_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end upper_Limit_is;
|
||||
|
||||
|
||||
---------
|
||||
-- Hinge
|
||||
--
|
||||
|
||||
function new_hinge_Joint (Object_A : in physics.Object.view;
|
||||
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view
|
||||
is
|
||||
use type bullet_physics.Object.view;
|
||||
|
||||
Self : constant Hinge_view := new Hinge;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
|
||||
begin
|
||||
Self.C := b3d_new_space_hinge_Joint (c_Object_A,
|
||||
c_Frame_A'unchecked_Access);
|
||||
return Self;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Hinge)
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
begin
|
||||
put_Line ("bullet_physics-joint.adb => raise Program_Error with ""TBD"";");
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
function new_hinge_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.hinge.view
|
||||
is
|
||||
use type bullet_physics.Object.view;
|
||||
|
||||
Self : constant Hinge_view := new Hinge;
|
||||
|
||||
c_Object_A : bullet_C.Pointers.Object_Pointer;
|
||||
c_Object_B : bullet_C.Pointers.Object_Pointer;
|
||||
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
|
||||
|
||||
begin
|
||||
if bullet_physics.Object.view (Object_A) /= null
|
||||
then
|
||||
c_Object_A := bullet_physics.Object.view (Object_A).C;
|
||||
end if;
|
||||
|
||||
if bullet_physics.Object.view (Object_B) /= null
|
||||
then
|
||||
c_Object_B := bullet_physics.Object.view (Object_B).C;
|
||||
end if;
|
||||
|
||||
Self.C := b3d_new_hinge_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Frame_A'unchecked_Access,
|
||||
c_Frame_B'unchecked_Access);
|
||||
return Self;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Limits_are (Self : in out Hinge; Low, High : in Real;
|
||||
Softness : in Real := 0.9;
|
||||
biasFactor : in Real := 0.3;
|
||||
relaxationFactor : in Real := 1.0)
|
||||
is
|
||||
begin
|
||||
b3d_Joint_hinge_Limits_are (Self.C,
|
||||
c_Math_c.Real (Low),
|
||||
c_Math_c.Real (High),
|
||||
c_Math_c.Real (Softness),
|
||||
c_Math_c.Real (biasFactor),
|
||||
c_Math_c.Real (relaxationFactor));
|
||||
end Limits_are;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in Hinge) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in Hinge) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function Angle (Self : in Hinge) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end Angle;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Hinge) return physics.Object.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in Hinge) return physics.Object.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Hinge) return Matrix_4x4
|
||||
is
|
||||
c_Frame : aliased c_math_c.Matrix_4x4.item;
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return +c_Frame;
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in Hinge) return Matrix_4x4
|
||||
is
|
||||
c_Frame : aliased c_math_c.Matrix_4x4.item;
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return +c_Frame;
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Hinge; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Frame : aliased constant c_math_c.Matrix_4x4.item := +Now;
|
||||
pragma Unreferenced (c_Frame);
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Hinge; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Frame : aliased constant c_math_c.Matrix_4x4.item := +Now;
|
||||
pragma Unreferenced (c_Frame);
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Hinge; DoF : Degree_of_freedom) return Boolean
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
begin
|
||||
return DoF = 1;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Hinge; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
|
||||
if DoF /= 1 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in Hinge; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
|
||||
if DoF /= 1 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return 0.0;
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Hinge; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
--------
|
||||
--- Free
|
||||
--
|
||||
|
||||
procedure free (the_Joint : in out physics.Joint.view)
|
||||
is
|
||||
procedure deallocate is new ada.unchecked_Deallocation (physics.Joint.item'Class,
|
||||
physics.Joint.view);
|
||||
begin
|
||||
deallocate (the_Joint);
|
||||
end free;
|
||||
|
||||
|
||||
end bullet_Physics.Joint;
|
||||
Reference in New Issue
Block a user