Work on hinges.

4-high/gel/source/joint/gel-hinge_joint.adb

@@ -25,6 +25,8 @@ is
                    low_Limit        => to_Radians (-180.0),
                    high_Limit       => to_Radians ( 180.0),
                    collide_Conected => False);
+
+      Self.pivot_Anchor := pivot_Anchor;
    end define;
 
 
@@ -162,11 +164,50 @@ is
 
 
 
-   function Angle (Self : in Item'Class) return Real
+   function Anchor_on_A (Self : in Item) return Vector_3
    is
    begin
-      raise Error with "TODO";
-      return 0.0;
+      return Self.Physics.local_Anchor_on_A;
+   end Anchor_on_A;
+
+
+
+   function Anchor_on_B (Self : in Item) return Vector_3
+   is
+   begin
+      return Self.Physics.local_Anchor_on_B;
+   end Anchor_on_B;
+
+
+
+   function pivot_Anchor (Self : in Item) return Vector_3
+   is
+   begin
+      return Self.pivot_Anchor;
+   end pivot_Anchor;
+
+
+
+   function reference_Angle (Self : in Item) return Radians
+   is
+   begin
+      return Self.Physics.reference_Angle;
+   end reference_Angle;
+
+
+
+   function limit_Enabled (Self : in Item) return Boolean
+   is
+   begin
+      return Self.Physics.limit_Enabled;
+   end limit_Enabled;
+
+
+
+   function Angle (Self : in Item) return Real
+   is
+   begin
+      return Self.Physics.Angle;
    end Angle;
 
 
@@ -210,6 +251,35 @@ is
    end Physics;
 
 
+
+   ---------
+   --- Motor
+   --
+
+   function motor_Enabled (Self : in Item) return Boolean
+   is
+   begin
+      return Self.Physics.motor_Enabled;
+   end motor_Enabled;
+
+
+
+   function motor_Speed (Self : in Item) return Real
+   is
+   begin
+      return Self.Physics.motor_Speed;
+   end motor_Speed;
+
+
+
+   function max_motor_Torque (Self : in Item) return Real
+      is
+   begin
+      return Self.Physics.max_motor_Torque;
+   end max_motor_Torque;
+
+
+
    ----------------
    --- Joint Limits
    --

4-high/gel/source/joint/gel-hinge_joint.ads

@@ -66,11 +66,14 @@ is
    procedure destroy (Self : in out Item);
 
 
+
    --------------
    --- Attributes
    --
 
-   function  Angle      (Self : in     Item'Class) return Real;
+   function  reference_Angle (Self : in Item) return Radians;
+
+   function  Angle      (Self : in     Item) return Real;
 
    overriding
    function  Physics    (Self : in     Item) return Joint.Physics_view;
@@ -81,11 +84,13 @@ is
                                                      relaxation_Factor : in Real := 1.0);
    overriding
    function  Frame_A    (Self : in     Item) return Matrix_4x4;
+
    overriding
    function  Frame_B    (Self : in     Item) return Matrix_4x4;
 
    overriding
    procedure Frame_A_is (Self : in out Item;   Now  : in Matrix_4x4);
+
    overriding
    procedure Frame_B_is (Self : in out Item;   Now  : in Matrix_4x4);
 
@@ -93,16 +98,27 @@ is
    function Degrees_of_freedom (Self : in Item) return joint.degree_of_Freedom;
 
 
+   function Anchor_on_A (Self : in Item) return Vector_3;
+   function Anchor_on_B (Self : in Item) return Vector_3;
+
+   function pivot_Anchor (Self : in Item) return Vector_3;
+
+   function limit_Enabled (Self : in Item) return Boolean;
+
+
+
    --  Bounds - limits the range of motion for a degree of freedom.
    --
 
    overriding
    function  low_Bound     (Self : access Item;   for_Degree : in joint.Degree_of_freedom) return Real;
+
    overriding
    procedure low_Bound_is  (Self : access Item;   for_Degree : in joint.Degree_of_freedom;
                                                   Now        : in Real);
    overriding
    function  high_Bound    (Self : access Item;   for_Degree : in joint.Degree_of_freedom) return Real;
+
    overriding
    procedure high_Bound_is (Self : access Item;   for_Degree : in joint.Degree_of_freedom;
                                                   Now        : in Real);
@@ -116,11 +132,14 @@ is
    procedure Velocity_is   (Self : in     Item;   for_Degree : in joint.Degree_of_freedom;
                                                   Now        : in Real);
 
-   --------------
-   --- Operations
+   ---------
+   --- Motor
    --
 
-   -- Nil.
+   function motor_Enabled    (Self : in Item) return Boolean;
+   function motor_Speed      (Self : in Item) return Real;
+   function max_motor_Torque (Self : in Item) return Real;
+
 
 
 
@@ -130,6 +149,8 @@ private
       record
          Physics : access std_physics.Joint.hinge.item'Class;
 
+         pivot_Anchor      : Vector_3;
+
          low_Bound,
          high_Bound        : Real;
 

4-high/gel/source/joint/gel-joint.adb

@@ -61,26 +61,28 @@ is
    --- Hinges
    --
 
-   function local_Anchor_on_A (Self : in Item) return Vector_3
-   is
-   begin
-      return Self.local_Anchor_on_A;
-   end local_Anchor_on_A;
-
-
-
-   function local_Anchor_on_B (Self : in Item) return Vector_3
-   is
-   begin
-      return Self.local_Anchor_on_B;
-   end local_Anchor_on_B;
+   --  function local_Anchor_on_A (Self : in Item'Class) return Vector_3
+   --  is
+   --  begin
+   --     return Self.Physics.local_Anchor_on_A;
+   --     --  return Self.local_Anchor_on_A;
+   --  end local_Anchor_on_A;
+   --
+   --
+   --
+   --  function local_Anchor_on_B (Self : in Item'Class) return Vector_3
+   --  is
+   --  begin
+   --     return Self.Physics.local_Anchor_on_B;
+   --     --  return Self.local_Anchor_on_B;
+   --  end local_Anchor_on_B;
 
 
 
    procedure local_Anchor_on_A_is (Self : out Item;   Now : in Vector_3)
    is
    begin
-      Self.local_Anchor_on_A := Now;
+      --  Self.local_Anchor_on_A := Now;
 
       if Self.Sprite_A.World /= null
       then
@@ -94,7 +96,7 @@ is
    procedure local_Anchor_on_B_is (Self : out Item;   Now : in Vector_3)
    is
    begin
-      Self.local_Anchor_on_B := Now;
+      --  Self.local_Anchor_on_B := Now;
 
       if Self.Sprite_B.World /= null
       then
@@ -120,4 +122,12 @@ is
    end reaction_Torque;
 
 
+
+   function collide_Connected (Self : in Item'Class) return Boolean
+   is
+   begin
+      return Self.Physics.collide_Connected;
+   end collide_Connected;
+
+
 end gel.Joint;

4-high/gel/source/joint/gel-joint.ads

@@ -89,6 +89,13 @@ is
    function  reaction_Torque (Self : in   Item'Class) return Real;
 
 
+   function collide_Connected (Self : in Item'Class) return Boolean;
+
+   --  function local_Anchor_on_A (Self : in Item'Class) return Vector_3;
+   --  function local_Anchor_on_B (Self : in Item'Class) return Vector_3;
+
+
+
    --------------
    --- Operations
    --
@@ -100,8 +107,8 @@ is
    --- Hinges
    --
 
-   function  local_Anchor_on_A    (Self : in     Item)     return Vector_3;
-   function  local_Anchor_on_B    (Self : in     Item)     return Vector_3;
+   --  function  local_Anchor_on_A    (Self : in     Item)     return Vector_3;
+   --  function  local_Anchor_on_B    (Self : in     Item)     return Vector_3;
 
    procedure local_Anchor_on_A_is (Self :    out Item;   Now : in Vector_3);
    procedure local_Anchor_on_B_is (Self :    out Item;   Now : in Vector_3);
@@ -115,8 +122,8 @@ private
          Sprite_A : access gel.Sprite.item'Class;
          Sprite_B : access gel.Sprite.item'Class;
 
-         local_Anchor_on_A : Vector_3;
-         local_Anchor_on_B : Vector_3;
+         --  local_Anchor_on_A : Vector_3;
+         --  local_Anchor_on_B : Vector_3;
       end record;
 
    null_Joints : constant Joint.views (1 .. 0) := [others => null];