/*
 * ODE::AngularMotorJoint#initialize( world, jointGroup )
 * --
 * Create and return a new ODE::AngularMotorJoint.
 */
static VALUE
ode_aMotorJoint_init( argc, argv, self )
	 int	argc;
	 VALUE	*argv, self;
{
	return ode_joint_construct( argc, argv, self, dJointCreateAMotor, 0 );
}

/*
 * ODE::AngularMotorJoint#axis1()
 * --
 * Set the first axis of the joint, which must be parallel to the second
 * axis. The <tt>vector</tt> argument can be any object which returns an array
 * of three numeric values when <tt>to_ary</tt> is called on it, such as a
 * ODE::Vector, an ODE::Vector, or an Array with three numeric elements.
 */
static VALUE
ode_aMotorJoint_axis1( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_get_amotor_joint_param3( ptr->id, dJointGetAMotorAxis,
										ode_cOdeVector );
}

/*
 * ODE::AngularMotorJoint#axis1Rel()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_axis1_rel( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return INT2FIX( dJointGetAMotorAxisRel(ptr->id, 1) );
}

/*
 * ODE::AngularMotorJoint#axis2()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_axis2( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_get_amotor_joint_param3( ptr->id, 2, dJointGetAMotorAxis,
										ode_cOdeVector );
}

/*
 * ODE::AngularMotorJoint#axis2Rel()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_axis2_rel( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return INT2FIX( dJointGetAMotorAxisRel(ptr->id, 2) );
}

/*
 * ODE::AngularMotorJoint#axis3()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_axis3( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_get_amotor_joint_param3( ptr->id, 3, dJointGetAMotorAxis,
										ode_cOdeVector );
}

/*
 * ODE::AngularMotorJoint#axis3Rel()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_axis3_rel( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return INT2FIX( dJointGetAMotorAxisRel(ptr->id, 3) );
}

/*
 * ODE::AngularMotorJoint#eulerMode=( boolean )
 * --
 * If set to <tt>true</tt>, the angular motor mode is set to automatically
 * compute Euler angles. The first axis is also automatically computed. The
 * AMotor axes must be set correctly when in this mode, as described below. When
 * this mode is initially set the current relative orientations of the bodies
 * will correspond to all euler angles at zero. If set to <tt>false</tt> (the
 * default), the angular motor axes and joint angle settings are entirely
 * controlled by the user.
 */
static VALUE
ode_aMotorJoint_euler_mode_eq( self, mode )
	 VALUE	self, mode;
{
	ode_JOINT	*ptr = get_joint( self );
	if ( RTEST(mode) )
		dJointSetAMotorMode( ptr->id, dAMotorEuler );
	else
		dJointSetAMotorMode( ptr->id, dAMotorUser );

	return (RTEST(mode) ? Qtrue : Qfalse);
}

/*
 * ODE::AngularMotorJoint#eulerMode?
 * --
 * Returns true if the joint has been set to Euler mode.
 */
static VALUE
ode_aMotorJoint_euler_mode_p( self )
	 VALUE self;
{
	ode_JOINT	*ptr = get_joint( self );

	if ( dJointGetAMotorMode(ptr->id) == dAMotorEuler )
		return Qtrue;
	else
		return Qfalse;
}

/*
 * ODE::AngularMotorJoint#motor1Angle()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor1_angle( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( dJointGetAMotorAngle(ptr->id, 1) );
}

/*
 * ODE::AngularMotorJoint#motor1Angle=( angle )
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor1_angle_eq( self, angle )
	 VALUE	self, angle;
{
	ode_JOINT	*ptr = get_joint( self );
	dJointSetAMotorAngle( ptr->id, 1, (dReal)NUM2DBL(angle) );
	return angle;
}

/*
 * ODE::AngularMotorJoint#motor1AngleRate()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor1_angle_rate( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( dJointGetAMotorAngleRate(ptr->id, 1) );
}

/*
 * ODE::AngularMotorJoint#motor2Angle()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor2_angle( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( dJointGetAMotorAngle(ptr->id, 2) );
}

/*
 * ODE::AngularMotorJoint#motor2Angle=( angle )
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor2_angle_eq( self, angle )
	 VALUE	self, angle;
{
	ode_JOINT	*ptr = get_joint( self );
	dJointSetAMotorAngle( ptr->id, 2, (dReal)NUM2DBL(angle) );
	return angle;
}

/*
 * ODE::AngularMotorJoint#motor2AngleRate()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor2_angle_rate( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( dJointGetAMotorAngleRate(ptr->id, 2) );
}

/*
 * ODE::AngularMotorJoint#motor3Angle()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor3_angle( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( dJointGetAMotorAngle(ptr->id, 3) );
}

/*
 * ODE::AngularMotorJoint#motor3Angle=( angle )
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor3_angle_eq( self, angle )
	 VALUE	self, angle;
{
	ode_JOINT	*ptr = get_joint( self );
	dJointSetAMotorAngle( ptr->id, 3, (dReal)NUM2DBL(angle) );
	return angle;
}

/*
 * ODE::AngularMotorJoint#motor3AngleRate()
 * --
 * 
 */
static VALUE
ode_aMotorJoint_motor3_angle_rate( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( dJointGetAMotorAngleRate(ptr->id, 3) );
}

/*
 * ODE::AngularMotorJoint#numAxes
 * --
 * Get the number of angular axes that will be controlled by the AMotor.
 */
static VALUE
ode_aMotorJoint_num_axes( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return INT2FIX( dJointGetAMotorNumAxes(ptr->id) );
}

/*
 * ODE::AngularMotorJoint#numAxes=( num )
 * --
 * Set the number of angular axes that will be controlled by the AMotor. The num
 * argument can range from 0 (which effectively deactivates the joint) to
 * 3. This is automatically set to 3 in eulerMode.
 */
static VALUE
ode_aMotorJoint_num_axes_eq( self, arg )
	 VALUE	self, arg;
{
	ode_JOINT	*ptr = get_joint( self );
	int			num = NUM2INT( arg );
	
	if ( num < 0 || num > 3 )
		rb_raise( rb_eRangeError, "Argument out of bounds: must be between 0 and 3." );

	dJointSetAMotorNumAxes( ptr->id, num );
	return INT2FIX( dJointGetAMotorNumAxes(ptr->id) );
}

/*
 * ODE::AngularMotorJoint#setAxis1( mode, axis )
 * --
 * Set the 1st axis of the AngularMotorJoint to the given mode and axis. Each
 * axis can have one of three ``relative orientation'' modes, selected by <tt>mode</tt>:
 *
 * <tt>ODE::Joint::GlobalFrameOrientation</tt>:: The axis is anchored to the global frame.
 * <tt>ODE::Joint::Body1Orientation</tt>:: The axis is anchored to the first body.
 * <tt>ODE::Joint::Body2Orientation</tt>:: The axis is anchored to the second body. 
 *
 * The axis vector, specified in global coordinates regardless of the
 * <tt>mode</tt>, can be any object which returns an array with 3 numeric values
 * when <tt>to_ary</tt> is called on it, such as an ODE::Position object, a
 * ODE::Vector, or an Array with 3 numeric values.
 */
static VALUE
ode_aMotorJoint_set_axis1( self, mode, axis )
	 VALUE self, mode, axis;
{
	ode_JOINT	*ptr = get_joint( self );
	VALUE		axisArray;
	int			rel = NUM2INT(mode);

	/* Bounds-check the relmode */
	if ( rel < 0 || rel > 2 )
		rb_raise( rb_eArgError, "Invalid mode '%d': Must be 0, 1, or 2.", rel );

	/* Convert the axis argument to a 3rd order vector */
	if ( RARRAY(axis)->len == 1 )
		axisArray = ode_obj_to_ary3( *(RARRAY(axis)->ptr), "axis vector" );
	else
		axisArray = ode_obj_to_ary3( axis, "axis vector" );

	/* Set the axis */
	dJointSetAMotorAxis( ptr->id, 1, rel,
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr    )),
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr + 1)),
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr + 2)) );

	return Qtrue;
}

/*
 * ODE::AngularMotorJoint#setAxis2( mode, axis )
 * --
 * Set the 2nd axis of the AngularMotorJoint to the given mode and axis. Each
 * axis can have one of three ``relative orientation'' modes, selected by
 * <tt>mode</tt>:
 *
 * <tt>ODE::Joint::GlobalFrameOrientation</tt>:: The axis is anchored to the global frame.
 * <tt>ODE::Joint::Body1Orientation</tt>:: The axis is anchored to the first body.
 * <tt>ODE::Joint::Body2Orientation</tt>:: The axis is anchored to the second body. 
 *
 * The axis vector, specified in global coordinates regardless of the
 * <tt>mode</tt>, can be any object which returns an array with 3 numeric values
 * when <tt>to_ary</tt> is called on it, such as an ODE::Position object, a
 * ODE::Vector, or an Array with 3 numeric values.
 */
static VALUE
ode_aMotorJoint_set_axis2( self, mode, axis )
	 VALUE	self, mode, axis;
{
	ode_JOINT	*ptr = get_joint( self );
	VALUE		axisArray;
	int			rel = NUM2INT(mode);

	/* Bounds-check the relmode */
	if ( rel < 0 || rel > 2 )
		rb_raise( rb_eArgError, "Invalid mode '%d': Must be 0, 1, or 2.", rel );

	/* Convert the axis argument to a 3rd order vector */
	if ( RARRAY(axis)->len == 1 )
		axisArray = ode_obj_to_ary3( *(RARRAY(axis)->ptr), "axis vector" );
	else
		axisArray = ode_obj_to_ary3( axis, "axis vector" );

	/* Set the axis */
	dJointSetAMotorAxis( ptr->id, 2, rel,
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr    )),
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr + 1)),
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr + 2)) );

	return Qtrue;
}

/*
 * ODE::AngularMotorJoint#setAxis3( mode, axis )
 * --
 * Set the 3rd axis of the AngularMotorJoint to the given mode and axis. Each
 * axis can have one of three ``relative orientation'' modes, selected by
 * <tt>mode</tt>:
 *
 * <tt>ODE::Joint::GlobalFrameOrientation</tt>:: The axis is anchored to the global frame.
 * <tt>ODE::Joint::Body1Orientation</tt>:: The axis is anchored to the first body.
 * <tt>ODE::Joint::Body2Orientation</tt>:: The axis is anchored to the second body. 
 *
 * The axis vector, specified in global coordinates regardless of the
 * <tt>mode</tt>, can be any object which returns an array with 3 numeric values
 * when <tt>to_ary</tt> is called on it, such as an ODE::Position object, a
 * ODE::Vector, or an Array with 3 numeric values.
 */
static VALUE
ode_aMotorJoint_set_axis3( self, mode, axis )
	 VALUE	self, mode, axis;
{
	ode_JOINT	*ptr = get_joint( self );
	VALUE		axisArray;
	int			rel = NUM2INT(mode);

	/* Bounds-check the relmode */
	if ( rel < 0 || rel > 2 )
		rb_raise( rb_eArgError, "Invalid mode '%d': Must be 0, 1, or 2.", rel );

	/* Convert the axis argument to a 3rd order vector */
	if ( RARRAY(axis)->len == 1 )
		axisArray = ode_obj_to_ary3( *(RARRAY(axis)->ptr), "axis vector" );
	else
		axisArray = ode_obj_to_ary3( axis, "axis vector" );

	/* Set the axis */
	dJointSetAMotorAxis( ptr->id, 3, rel,
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr    )),
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr + 1)),
						 (dReal)NUM2DBL(*(RARRAY(axisArray)->ptr + 2)) );

	return Qtrue;
}