physics/ODEConstraintGroup.cpp

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/****************************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file 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.
  
  This program 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. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: ODEConstraintGroup.cpp 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.4 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#include <physics/ODEConstraintGroup>
#include <physics/ODEConstraint>

using physics::ODEConstraintGroup;
using physics::Constraint;
using physics::ODEConstraint;


ODEConstraintGroup::ODEConstraintGroup(dWorldID worldID)
  : worldID(worldID)
{
  jointGroupID = dJointGroupCreate(0);
}

ODEConstraintGroup::~ODEConstraintGroup()
{
  clear();
  dJointGroupDestroy(jointGroupID);
}


void ODEConstraintGroup::addConstraint(ref<Constraint> c)
{
  Assert(c != 0);
  Assert(instanceof(*c, ODEConstraint));
  constraints.push_back(c);
  ref<ODEConstraint> oc = narrow_ref<ODEConstraint>(c);
  ref<ODEConstraintGroup> self(this); // !!! is this dangerous? - ok for IntrRefCounted, what about others?
  oc->onConstraintGroupAdd(self);
}

void ODEConstraintGroup::removeConstraint(ref<Constraint> c)
{
  Assert(c != 0);
  constraints.remove(c);
}

void ODEConstraintGroup::clear()
{
  constraints.clear();
  dJointGroupEmpty(jointGroupID);
}

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