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/joint_internal.h | |
| parent | 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff) | |
add ode
Diffstat (limited to 'libs/ode-0.16.1/ode/src/joints/joint_internal.h')
| -rw-r--r-- | libs/ode-0.16.1/ode/src/joints/joint_internal.h | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/joints/joint_internal.h b/libs/ode-0.16.1/ode/src/joints/joint_internal.h new file mode 100644 index 0000000..30accb6 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/joints/joint_internal.h @@ -0,0 +1,70 @@ +/*************************************************************************
+ * *
+ * 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_INTERNAL_H_
+#define _ODE_JOINT_INTERNAL_H_
+
+
+#include <ode/rotation.h>
+#include <ode/objects.h>
+#include "matrix.h"
+#include "odemath.h"
+
+
+#define checktype(j,t) dUASSERT(j->type() == dJointType##t, \
+ "joint type is not " #t)
+
+
+void setBall( dxJoint *joint, dReal fps, dReal erp,
+ int rowskip, dReal *J1, dReal *J2,
+ int pairskip, dReal *pairRhsCfm,
+ dVector3 anchor1, dVector3 anchor2 );
+void setBall2( dxJoint *joint, dReal fps, dReal erp,
+ int rowskip, dReal *J1, dReal *J2,
+ int pairskip, dReal *pairRhsCfm,
+ dVector3 anchor1, dVector3 anchor2,
+ dVector3 axis, dReal erp1 );
+
+void setFixedOrientation( dxJoint *joint, dReal fps, dReal erp,
+ int rowskip, dReal *J1, dReal *J2,
+ int pairskip, dReal *pairRhsCfm,
+ dQuaternion qrel );
+
+
+void setAnchors( dxJoint *j, dReal x, dReal y, dReal z,
+ dVector3 anchor1, dVector3 anchor2 );
+
+void getAnchor( dxJoint *j, dVector3 result, dVector3 anchor1 );
+void getAnchor2( dxJoint *j, dVector3 result, dVector3 anchor2 );
+
+void setAxes( dxJoint *j, dReal x, dReal y, dReal z,
+ dVector3 axis1, dVector3 axis2 );
+void getAxis( dxJoint *j, dVector3 result, dVector3 axis1 );
+void getAxis2( dxJoint *j, dVector3 result, dVector3 axis2 );
+
+
+dReal getHingeAngle( dxBody *body1, dxBody *body2, dVector3 axis, dQuaternion q_initial );
+dReal getHingeAngleFromRelativeQuat( dQuaternion qrel, dVector3 axis );
+
+#endif
+
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