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

/*
 * ODE::HingeJoint#anchor()
 * --
 * Get the hinge's anchor point as an ODE::Position object.
 */
static VALUE
ode_hingeJoint_anchor( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_get_joint_param3( ptr->id, dJointGetHingeAnchor, ode_cOdePosition );
}

/*
 * ODE::HingeJoint#anchor=( position )
 * --
 * Set the joint's anchor point, which 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_hingeJoint_anchor_eq( self, position )
	 VALUE	self, position;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_set_joint_param3( ptr->id, position, "anchor",
								 dJointSetHingeAnchor, ode_cOdePosition );
}

/*
 * ODE::HingeJoint#angle()
 * --
 * 
 */
static VALUE
ode_hingeJoint_angle( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( (dReal)dJointGetHingeAngle(ptr->id) );
}

/*
 * ODE::HingeJoint#angleRate()
 * --
 * 
 */
static VALUE
ode_hingeJoint_angle_rate( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return rb_float_new( (dReal)dJointGetHingeAngleRate(ptr->id) );
}

/*
 * ODE::HingeJoint#axis()
 * --
 * 
 */
static VALUE
ode_hingeJoint_axis( self )
	 VALUE	self;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_get_joint_param3( ptr->id, dJointGetHingeAxis, ode_cOdeVector );
}

/*
 * ODE::HingeJoint#axis=( vector )
 * --
 * 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_hingeJoint_axis_eq( self, axis )
	 VALUE	self, axis;
{
	ode_JOINT	*ptr = get_joint( self );
	return ode_set_joint_param3( ptr->id, axis, "axis",
								 dJointSetHingeAxis, ode_cOdeVector );
}