add ode

1 files changed, 112 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/joints/piston.h b/libs/ode-0.16.1/ode/src/joints/piston.h
new file mode 100644
index 0000000..c202c20
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/joints/piston.h
@@ -0,0 +1,112 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_PISTON_H_
+#define _ODE_JOINT_PISTON_H_
+
+#include "joint.h"
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Component of a Piston joint
+/// <PRE>
+///                              |- Anchor point
+///      Body_1                  |                       Body_2
+///      +---------------+       V                       +------------------+
+///     /               /|                             /                  /|
+///    /               / +       |--      ______      /                  / +
+///   /      x        /./........x.......(_____()..../         x        /.......> axis
+///  +---------------+ /         |--                +------------------+ /
+///  |               |/                             |                  |/
+///  +---------------+                              +------------------+
+///          |                                                 |
+///          |                                                 |
+///          |------------------> <----------------------------|
+///              anchor1                  anchor2
+///
+///
+/// </PRE>
+///
+/// When the prismatic joint as been elongated (i.e. dJointGetPistonPosition)
+/// return a value >  0
+/// <PRE>
+///                                   |- Anchor point
+///      Body_1                       |                       Body_2
+///      +---------------+            V                       +------------------+
+///     /               /|                                  /                  /|
+///    /               / +            |--      ______      /                  / +
+///   /      x        /./........_____x.......(_____()..../         x        /.......> axis
+///  +---------------+ /              |--                +------------------+ /
+///  |               |/                                  |                  |/
+///  +---------------+                                   +------------------+
+///          |                                                      |
+///          |                                                      |
+///          |------------------>      <----------------------------|
+///              anchor1         |----|         anchor2
+///                                ^
+///                                |-- This is what dJointGetPistonPosition will
+///                                    return
+/// </PRE>
+////////////////////////////////////////////////////////////////////////////////
+struct dxJointPiston : public dxJoint
+{
+    dVector3 axis1;          ///< Axis of the prismatic and rotoide w.r.t first body
+    dVector3 axis2;          ///< Axis of the prismatic and rotoide w.r.t second body
+
+
+    dQuaternion qrel;        ///< Initial relative rotation body1 -> body2
+
+    /// Anchor w.r.t first body.
+    /// This is the same as the offset for the Slider joint
+    /// @note To find the position of the anchor when the body 1 has moved
+    ///       you must add the position of the prismatic joint
+    ///       i.e anchor = R1 * anchor1 + dJointGetPistonPosition() * (R1 * axis1)
+    dVector3 anchor1;
+    dVector3 anchor2;        //< anchor w.r.t second body
+
+    /// limit and motor information for the prismatic
+    /// part of the joint
+    dxJointLimitMotor limotP;
+
+    /// limit and motor information for the rotoide
+    /// part of the joint
+    dxJointLimitMotor limotR;
+
+    dxJointPiston( 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();
+
+    void computeInitialRelativeRotation();
+};
+
+
+
+#endif
+