add ode

1 files changed, 88 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/joints/pu.h b/libs/ode-0.16.1/ode/src/joints/pu.h
new file mode 100644
index 0000000..34f7392
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/joints/pu.h
@@ -0,0 +1,88 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_PU_H_
+#define _ODE_JOINT_PU_H_
+
+#include "universal.h"
+
+
+
+/**
+ * Component of a Prismatic -- Universal joint.
+ * The axisP must be perpendicular to axis1.
+ * The second axis of the universal joint is perpendicular to axis1.
+ *
+ * Since the PU joint is derived from the Universal joint. Some variable
+ * are reused.
+ *
+ * anchor1: Vector from body1 to the anchor point
+ *          This vector is calculated when the body are attached or
+ *          when the anchor point is set. It is like the offset of the Slider
+ *          joint. Since their is a prismatic between the anchor and the body1
+ *          the distance might change as the simulation goes on.
+ * anchor2: Vector from body2 to the anchor point.
+ * <PRE>
+ *                                                 Body 2
+ *                                                 +-------------+
+ *                                                 |      x      |
+ *                                                 +------------\+
+ *          Prismatic articulation                   ..     ..
+ *                                |                ..     ..
+ *          Body 1                v             ..      ..
+ *          +--------------+    --|        __..      ..  anchor2
+ * <--------|      x       | .....|.......(__)     ..
+ * axisP    +--------------+    --|         ^     <
+ *                 |----------------------->|
+ *                     anchor1              |--- Universal articulation
+ *                                               axis1 going out of the plane
+ *                                               axis2 is perpendicular to axis1
+ *                                               (i.e. 2 rotoides)
+ * </PRE>
+ */
+struct dxJointPU : public dxJointUniversal
+{
+
+    /// @brief Axis for the prismatic articulation w.r.t first body.
+    /// @note This is considered as axis2 from the parameter view
+    dVector3 axisP1;
+
+    dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
+
+
+    dxJointPU( 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
+