1 files changed, 105 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/joints/amotor.h b/libs/ode-0.16.1/ode/src/joints/amotor.h
new file mode 100644
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+++ b/libs/ode-0.16.1/ode/src/joints/amotor.h
@@ -0,0 +1,105 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_AMOTOR_H_
+#define _ODE_JOINT_AMOTOR_H_
+
+#include "joint.h"
+
+
+// angular motor
+
+typedef dxJoint dxJointAMotor_Parent;
+class dxJointAMotor:
+    public dxJointAMotor_Parent
+{
+public:
+    dxJointAMotor(dxWorld *w);
+    virtual ~dxJointAMotor();
+
+public:
+    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;
+
+public:
+    void setOperationMode(int mode);
+    int getOperationMode() const { return m_mode; }
+
+    void setNumAxes(unsigned num);
+    int getNumAxes() const { return m_num; }
+
+    dJointBodyRelativity getAxisBodyRelativity(unsigned anum) const;
+
+    void setAxisValue(unsigned anum, dJointBodyRelativity rel, dReal x, dReal y, dReal z);
+    void getAxisValue(dVector3 result, unsigned anum) const;
+
+private:
+    void doGetUserAxis(dVector3 result, unsigned anum) const;
+    void doGetEulerAxis(dVector3 result, unsigned anum) const;
+
+public:
+    void setAngleValue(unsigned anum, dReal angle);
+    dReal getAngleValue(unsigned anum) const { dAASSERT(dIN_RANGE(anum, dSA__MIN, dSA__MAX)); return m_angle[anum]; }
+
+    dReal calculateAngleRate(unsigned anum) const;
+
+    void setLimotParameter(unsigned anum, int limotParam, dReal value) { dAASSERT(dIN_RANGE(anum, dSA__MIN, dSA__MAX)); m_limot[anum].set(limotParam, value); }
+    dReal getLimotParameter(unsigned anum, int limotParam) const { dAASSERT(dIN_RANGE(anum, dSA__MIN, dSA__MAX)); return m_limot[anum].get(limotParam); }
+
+public:
+    void addTorques(dReal torque1, dReal torque2, dReal torque3);
+
+private:
+    void computeGlobalAxes(dVector3 ax[dSA__MAX]) const;
+    void doComputeGlobalUserAxes(dVector3 ax[dSA__MAX]) const;
+    void doComputeGlobalEulerAxes(dVector3 ax[dSA__MAX]) const;
+
+    void computeEulerAngles(dVector3 ax[dSA__MAX]);
+    void setEulerReferenceVectors();
+
+private:
+    inline dSpaceAxis BuildFirstBodyEulerAxis() const;
+    inline dJointConnectedBody BuildFirstEulerAxisBody() const;
+
+private:
+    friend struct dxAMotorJointPrinter;
+
+private:
+    int m_mode;                                   // a dAMotorXXX constant
+    unsigned m_num;                               // number of axes (0..3)
+    dJointBodyRelativity m_rel[dSA__MAX];         // what the axes are relative to (global,b1,b2)
+    dVector3 m_axis[dSA__MAX];                    // three axes
+    // these vectors are used for calculating Euler angles
+    dVector3 m_references[dJCB__MAX];             // original axis[2], relative to body 1; original axis[0], relative to body 2
+    dReal m_angle[dSA__MAX];                      // user-supplied angles for axes
+    dxJointLimitMotor m_limot[dJBR__MAX];         // limit+motor info for axes
+};
+
+
+#endif
+