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contactjointhandler_c.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: contactjointhandler_c.cpp,v 1.7 2004/05/01 11:30:31 rollmark Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 #include "contactjointhandler.h"
00023 
00024 using namespace oxygen;
00025 
00026 FUNCTION(ContactJointHandler,setContactBounceMode)
00027 {
00028     bool inSet;
00029     if (
00030         (in.GetSize() != 1) ||
00031         (! in.GetValue(in[0],inSet))
00032         )
00033         {
00034             return false;
00035         }
00036 
00037     obj->SetContactBounceMode(inSet);
00038     return true;
00039 }
00040 
00041 FUNCTION(ContactJointHandler,setMinBounceVel)
00042 {
00043     double inVel;
00044     if (
00045         (in.GetSize() != 1) ||
00046         (! in.GetValue(in[0],inVel))
00047         )
00048         {
00049             return false;
00050         }
00051 
00052     obj->SetMinBounceVel(inVel);
00053     return true;
00054 }
00055 
00056 FUNCTION(ContactJointHandler,setContactBounceValue)
00057 {
00058     double inValue;
00059     if (
00060         (in.GetSize() != 1) ||
00061         (! in.GetValue(in[0],inValue))
00062         )
00063         {
00064             return false;
00065         }
00066 
00067     obj->SetBounceValue(inValue);
00068     return true;
00069 }
00070 
00071 FUNCTION(ContactJointHandler,setContactSoftERPMode)
00072 {
00073     bool inSet;
00074     if (
00075         (in.GetSize() != 1) ||
00076         (! in.GetValue(in[0],inSet))
00077         )
00078         {
00079             return false;
00080         }
00081 
00082     obj->SetContactSoftERPMode(inSet);
00083     return true;
00084 }
00085 
00086 FUNCTION(ContactJointHandler,setContactSoftERP)
00087 {
00088     double inERP;
00089     if (
00090         (in.GetSize() != 1) ||
00091         (! in.GetValue(in[0],inERP))
00092         )
00093         {
00094             return false;
00095         }
00096 
00097     obj->SetContactSoftERP(inERP);
00098     return true;
00099 }
00100 
00101 FUNCTION(ContactJointHandler,setContactSoftCFMMode)
00102 {
00103     bool inSet;
00104     if (
00105         (in.GetSize() != 1) ||
00106         (! in.GetValue(in[0],inSet))
00107         )
00108         {
00109             return false;
00110         }
00111 
00112     obj->SetContactSoftCFMMode(inSet);
00113     return true;
00114 }
00115 
00116 FUNCTION(ContactJointHandler,setContactSoftCFM)
00117 {
00118     double inCFM;
00119     if (
00120         (in.GetSize() != 1) ||
00121         (! in.GetValue(in[0],inCFM))
00122         )
00123         {
00124             return false;
00125         }
00126 
00127     obj->SetContactSoftCFM(inCFM);
00128     return true;
00129 }
00130 
00131 FUNCTION(ContactJointHandler,setContactSlipMode)
00132 {
00133     bool inSet;
00134     if (
00135         (in.GetSize() != 1) ||
00136         (! in.GetValue(in[0],inSet))
00137         )
00138         {
00139             return false;
00140         }
00141 
00142     obj->SetContactSlipMode(inSet);
00143     return true;
00144 }
00145 
00146 FUNCTION(ContactJointHandler,setContactSlip)
00147 {
00148     double inSlip;
00149     if (
00150         (in.GetSize() != 1) ||
00151         (! in.GetValue(in[0],inSlip))
00152         )
00153         {
00154             return false;
00155         }
00156 
00157     obj->SetContactSlip(inSlip);
00158     return true;
00159 }
00160 
00161 FUNCTION(ContactJointHandler,setContactMu)
00162 {
00163     double inMu;
00164     if (
00165         (in.GetSize() != 1) ||
00166         (! in.GetValue(in[0],inMu))
00167         )
00168         {
00169             return false;
00170         }
00171 
00172     obj->SetContactMu(inMu);
00173     return true;
00174 
00175 }
00176 
00177 void CLASS(ContactJointHandler)::DefineClass()
00178 {
00179   DEFINE_BASECLASS(oxygen/CollisionHandler);
00180   DEFINE_FUNCTION(setContactBounceMode);
00181   DEFINE_FUNCTION(setContactBounceValue);
00182   DEFINE_FUNCTION(setMinBounceVel);
00183   DEFINE_FUNCTION(setContactSoftERPMode);
00184   DEFINE_FUNCTION(setContactSoftERP);
00185   DEFINE_FUNCTION(setContactSoftCFMMode);
00186   DEFINE_FUNCTION(setContactSoftCFM);
00187   DEFINE_FUNCTION(setContactSlipMode);
00188   DEFINE_FUNCTION(setContactSlip);
00189   DEFINE_FUNCTION(setContactMu);
00190 }

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