diff options
Diffstat (limited to 'libs/ode-0.16.1/ode/src/joints/ball.cpp')
| -rw-r--r-- | libs/ode-0.16.1/ode/src/joints/ball.cpp | 186 |
1 files changed, 186 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/joints/ball.cpp b/libs/ode-0.16.1/ode/src/joints/ball.cpp new file mode 100644 index 0000000..c295b85 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/joints/ball.cpp @@ -0,0 +1,186 @@ +/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+
+#include <ode/odeconfig.h>
+#include "config.h"
+#include "ball.h"
+#include "joint_internal.h"
+
+//****************************************************************************
+// ball and socket
+
+dxJointBall::dxJointBall( dxWorld *w ) :
+ dxJoint( w )
+{
+ dSetZero( anchor1, 4 );
+ dSetZero( anchor2, 4 );
+ erp = world->global_erp;
+ cfm = world->global_cfm;
+}
+
+
+void
+dxJointBall::getSureMaxInfo( SureMaxInfo* info )
+{
+ info->max_m = 3;
+}
+
+
+void
+dxJointBall::getInfo1( dxJoint::Info1 *info )
+{
+ info->m = 3;
+ info->nub = 3;
+}
+
+
+void
+dxJointBall::getInfo2( dReal worldFPS, dReal /*worldERP*/,
+ int rowskip, dReal *J1, dReal *J2,
+ int pairskip, dReal *pairRhsCfm, dReal *pairLoHi,
+ int *findex )
+{
+ pairRhsCfm[GI2_CFM] = cfm;
+ pairRhsCfm[pairskip + GI2_CFM] = cfm;
+ pairRhsCfm[2 * pairskip + GI2_CFM] = cfm;
+ setBall( this, worldFPS, this->erp, rowskip, J1, J2, pairskip, pairRhsCfm, anchor1, anchor2 );
+}
+
+
+
+
+
+void dJointSetBallAnchor( dJointID j, dReal x, dReal y, dReal z )
+{
+ dxJointBall* joint = ( dxJointBall* )j;
+ dUASSERT( joint, "bad joint argument" );
+ checktype( joint, Ball );
+ setAnchors( joint, x, y, z, joint->anchor1, joint->anchor2 );
+}
+
+
+void dJointSetBallAnchor2( dJointID j, dReal x, dReal y, dReal z )
+{
+ dxJointBall* joint = ( dxJointBall* )j;
+ dUASSERT( joint, "bad joint argument" );
+ checktype( joint, Ball );
+ joint->anchor2[0] = x;
+ joint->anchor2[1] = y;
+ joint->anchor2[2] = z;
+ joint->anchor2[3] = 0;
+}
+
+void dJointGetBallAnchor( dJointID j, dVector3 result )
+{
+ dxJointBall* joint = ( dxJointBall* )j;
+ dUASSERT( joint, "bad joint argument" );
+ dUASSERT( result, "bad result argument" );
+ checktype( joint, Ball );
+ if ( joint->flags & dJOINT_REVERSE )
+ getAnchor2( joint, result, joint->anchor2 );
+ else
+ getAnchor( joint, result, joint->anchor1 );
+}
+
+
+void dJointGetBallAnchor2( dJointID j, dVector3 result )
+{
+ dxJointBall* joint = ( dxJointBall* )j;
+ dUASSERT( joint, "bad joint argument" );
+ dUASSERT( result, "bad result argument" );
+ checktype( joint, Ball );
+ if ( joint->flags & dJOINT_REVERSE )
+ getAnchor( joint, result, joint->anchor1 );
+ else
+ getAnchor2( joint, result, joint->anchor2 );
+}
+
+
+void dxJointBall::set( int num, dReal value )
+{
+ switch ( num )
+ {
+ case dParamCFM:
+ cfm = value;
+ break;
+ case dParamERP:
+ erp = value;
+ break;
+ }
+}
+
+
+dReal dxJointBall::get( int num )
+{
+ switch ( num )
+ {
+ case dParamCFM:
+ return cfm;
+ case dParamERP:
+ return erp;
+ default:
+ return 0;
+ }
+}
+
+
+void dJointSetBallParam( dJointID j, int parameter, dReal value )
+{
+ dxJointBall* joint = ( dxJointBall* )j;
+ dUASSERT( joint, "bad joint argument" );
+ checktype( joint, Ball );
+ joint->set( parameter, value );
+}
+
+
+dReal dJointGetBallParam( dJointID j, int parameter )
+{
+ dxJointBall* joint = ( dxJointBall* )j;
+ dUASSERT( joint, "bad joint argument" );
+ checktype( joint, Ball );
+ return joint->get( parameter );
+}
+
+
+dJointType
+dxJointBall::type() const
+{
+ return dJointTypeBall;
+}
+
+sizeint
+dxJointBall::size() const
+{
+ return sizeof( *this );
+}
+
+void
+dxJointBall::setRelativeValues()
+{
+ dVector3 anchor;
+ dJointGetBallAnchor(this, anchor);
+ setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
+}
+
+
+
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