diff options
| author | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
|---|---|---|
| committer | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
| commit | c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch) | |
| tree | 277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/ode/src/joints/amotor.h | |
| parent | 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff) | |
add ode
Diffstat (limited to 'libs/ode-0.16.1/ode/src/joints/amotor.h')
| -rw-r--r-- | libs/ode-0.16.1/ode/src/joints/amotor.h | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/joints/amotor.h b/libs/ode-0.16.1/ode/src/joints/amotor.h new file mode 100644 index 0000000..2fd421c --- /dev/null +++ b/libs/ode-0.16.1/ode/src/joints/amotor.h @@ -0,0 +1,105 @@ +/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library 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 files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_JOINT_AMOTOR_H_
+#define _ODE_JOINT_AMOTOR_H_
+
+#include "joint.h"
+
+
+// angular motor
+
+typedef dxJoint dxJointAMotor_Parent;
+class dxJointAMotor:
+ public dxJointAMotor_Parent
+{
+public:
+ dxJointAMotor(dxWorld *w);
+ virtual ~dxJointAMotor();
+
+public:
+ virtual void getSureMaxInfo(SureMaxInfo* info);
+ virtual void getInfo1(Info1* info);
+ virtual void getInfo2(dReal worldFPS, dReal worldERP,
+ int rowskip, dReal *J1, dReal *J2,
+ int pairskip, dReal *pairRhsCfm, dReal *pairLoHi,
+ int *findex);
+ virtual dJointType type() const;
+ virtual sizeint size() const;
+
+public:
+ void setOperationMode(int mode);
+ int getOperationMode() const { return m_mode; }
+
+ void setNumAxes(unsigned num);
+ int getNumAxes() const { return m_num; }
+
+ dJointBodyRelativity getAxisBodyRelativity(unsigned anum) const;
+
+ void setAxisValue(unsigned anum, dJointBodyRelativity rel, dReal x, dReal y, dReal z);
+ void getAxisValue(dVector3 result, unsigned anum) const;
+
+private:
+ void doGetUserAxis(dVector3 result, unsigned anum) const;
+ void doGetEulerAxis(dVector3 result, unsigned anum) const;
+
+public:
+ void setAngleValue(unsigned anum, dReal angle);
+ dReal getAngleValue(unsigned anum) const { dAASSERT(dIN_RANGE(anum, dSA__MIN, dSA__MAX)); return m_angle[anum]; }
+
+ dReal calculateAngleRate(unsigned anum) const;
+
+ void setLimotParameter(unsigned anum, int limotParam, dReal value) { dAASSERT(dIN_RANGE(anum, dSA__MIN, dSA__MAX)); m_limot[anum].set(limotParam, value); }
+ dReal getLimotParameter(unsigned anum, int limotParam) const { dAASSERT(dIN_RANGE(anum, dSA__MIN, dSA__MAX)); return m_limot[anum].get(limotParam); }
+
+public:
+ void addTorques(dReal torque1, dReal torque2, dReal torque3);
+
+private:
+ void computeGlobalAxes(dVector3 ax[dSA__MAX]) const;
+ void doComputeGlobalUserAxes(dVector3 ax[dSA__MAX]) const;
+ void doComputeGlobalEulerAxes(dVector3 ax[dSA__MAX]) const;
+
+ void computeEulerAngles(dVector3 ax[dSA__MAX]);
+ void setEulerReferenceVectors();
+
+private:
+ inline dSpaceAxis BuildFirstBodyEulerAxis() const;
+ inline dJointConnectedBody BuildFirstEulerAxisBody() const;
+
+private:
+ friend struct dxAMotorJointPrinter;
+
+private:
+ int m_mode; // a dAMotorXXX constant
+ unsigned m_num; // number of axes (0..3)
+ dJointBodyRelativity m_rel[dSA__MAX]; // what the axes are relative to (global,b1,b2)
+ dVector3 m_axis[dSA__MAX]; // three axes
+ // these vectors are used for calculating Euler angles
+ dVector3 m_references[dJCB__MAX]; // original axis[2], relative to body 1; original axis[0], relative to body 2
+ dReal m_angle[dSA__MAX]; // user-supplied angles for axes
+ dxJointLimitMotor m_limot[dJBR__MAX]; // limit+motor info for axes
+};
+
+
+#endif
+
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