add ode

1 files changed, 100 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/joints/pr.h b/libs/ode-0.16.1/ode/src/joints/pr.h
new file mode 100644
index 0000000..930c0cd
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/joints/pr.h
@@ -0,0 +1,100 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_PR_H_
+#define _ODE_JOINT_PR_H_
+
+#include "joint.h"
+
+
+
+/**
+ * The axisP must be perpendicular to axis2
+ * <PRE>
+ *                                        +-------------+
+ *                                        |      x      |
+ *                                        +------------\+
+ * Prismatic articulation                   ..     ..
+ *                       |                ..     ..
+ *                      \/              ..      ..
+ * +--------------+    --|        __..      ..  anchor2
+ * |      x       | .....|.......(__)     ..
+ * +--------------+    --|         ^     <
+ *        |----------------------->|
+ *            Offset               |--- Rotoide articulation
+ * </PRE>
+ */
+struct dxJointPR : public dxJoint
+{
+
+    /// @brief Position of the rotoide articulation w.r.t second body.
+    /// @note Position of body 2 in world frame + anchor2 in world frame give
+    /// the position of the rotoide articulation
+    dVector3 anchor2;
+
+
+    /// axis of the rotoide articulation w.r.t first body.
+    /// @note This is considered as axis1 from the parameter view.
+    dVector3 axisR1;
+
+    /// axis of the rotoide articulation w.r.t second body.
+    /// @note This is considered also as axis1 from the parameter view
+    dVector3 axisR2;
+
+    /// axis for the prismatic articulation w.r.t first body.
+    /// @note This is considered as axis2 in from the parameter view
+    dVector3 axisP1;
+
+
+    dQuaternion qrel;   ///< initial relative rotation body1 -> body2.
+
+
+    /// @brief vector between the body1 and the rotoide articulation.
+    ///
+    /// Going from the first to the second in the frame of body1.
+    /// That should be aligned with body1 center along axisP.
+    /// This is calculated when the axis are set.
+    dVector3 offset;
+    dxJointLimitMotor limotR; ///< limit and motor information for the rotoide articulation.
+    dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
+
+
+    void computeInitialRelativeRotation();
+
+
+    dxJointPR( 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
+