add ode

1 files changed, 71 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/joints/hinge2.h b/libs/ode-0.16.1/ode/src/joints/hinge2.h
new file mode 100644
index 0000000..06ce240
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/joints/hinge2.h
@@ -0,0 +1,71 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_HINGE2_H_
+#define _ODE_JOINT_HINGE2_H_
+
+#include "joint.h"
+
+
+// hinge 2
+
+struct dxJointHinge2 : public dxJoint
+{
+    dVector3 anchor1;   // anchor w.r.t first body
+    dVector3 anchor2;   // anchor w.r.t second body
+    dVector3 axis1;     // axis 1 w.r.t first body
+    dVector3 axis2;     // axis 2 w.r.t second body
+    dReal c0, s0;       // cos,sin of desired angle between axis 1,2
+    dVector3 v1, v2;    // angle ref vectors embedded in first body
+    dVector3 w1, w2;    // angle ref vectors embedded in second body
+    dxJointLimitMotor limot1; // limit+motor info for axis 1
+    dxJointLimitMotor limot2; // limit+motor info for axis 2
+    dReal susp_erp, susp_cfm; // suspension parameters (erp,cfm)
+
+
+    dReal measureAngle1() const;
+    dReal measureAngle2() const;
+    void makeV1andV2();
+    void makeW1andW2();
+
+    void getAxisInfo(dVector3 ax1, dVector3 ax2, dVector3 axis,
+        dReal &sin_angle, dReal &cos_Angle) const;
+
+
+
+    dxJointHinge2( dxWorld *w );
+
+    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;
+
+    virtual void setRelativeValues();
+};
+
+
+
+#endif