# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1321404490 25200
# Node ID 8b95180f5c691cbc880f8d999c743917aa02bc5d
# Parent  7bc3b22c507bf6e977b051142474dc76d417e0bf
getting basic hinges to work

diff -r 7bc3b22c507b -r 8b95180f5c69 org/body.org
--- a/org/body.org	Tue Nov 15 00:53:06 2011 -0700
+++ b/org/body.org	Tue Nov 15 17:48:10 2011 -0700
@@ -119,9 +119,6 @@
           ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]
            ;;"mid2" "mid3" "tail" "head"]
         )))
-
-
-    
     (.addControl node krc)
     (.setRagdollMode krc)
     )
@@ -157,7 +154,6 @@
                 (println (.getName b)
                          " -- " (f b)))
               bones))
-
   (dorun
    (map #(.attachChild
           debug-node 
@@ -194,11 +190,8 @@
                              ;;              0
                                           
                             (Vector3f. 1 1 1))
-
         )
       
-
-      
       (println-repl "hi! <3"))))
 
 
@@ -242,10 +235,53 @@
     
 
 
-    
 
+(defn joint-control
+  [joint]
+  (let [physics-space (ref nil)
+        enabled? (ref true)]
+    (reify PhysicsControl
+      (setPhysicsSpace [this space]
+        (dosync
+         (ref-set physics-space space))
+        (.addJoint space joint))
+      (update [this tpf])
+      (setSpatial [this spatial])
+      (render [this rm vp])
+      (getPhysicsSpace [this] (deref physics-space))
+      (isEnabled [this] (deref enabled?))
+      (setEnabled [this state]
+        (dosync (ref-set enabled? state))))))
 
+(defn add-joint
+  "Add a joint to a particular object. When the object is added to the
+  PhysicsSpace of a simulation, the joint will also be added"
+  [object joint]
+  (let [control (joint-control joint)]
+    (.addControl object control))
+  object)
 
+(defn hinge-world
+  []
+  (let [sphere1 (sphere)
+        sphere2 (sphere 1 :position (Vector3f. 3 3 3))
+        joint (Point2PointJoint.
+               (.getControl sphere1 RigidBodyControl)
+               (.getControl sphere2 RigidBodyControl) 
+               Vector3f/ZERO (Vector3f. 3 3 3))]
+    (add-joint sphere1 joint)
+    (doto (Node. "hinge-world")
+      (.attachChild sphere1)
+      (.attachChild sphere2))))
+        
+
+(defn test-joint 
+  []
+  (.start
+   (world
+    (doto (Node.)
+      (.attachChild
+