1 files changed, 70 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/joints/joint_internal.h b/libs/ode-0.16.1/ode/src/joints/joint_internal.h
new file mode 100644
index 0000000..30accb6
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/joints/joint_internal.h
@@ -0,0 +1,70 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_INTERNAL_H_
+#define _ODE_JOINT_INTERNAL_H_
+
+
+#include <ode/rotation.h>
+#include <ode/objects.h>
+#include "matrix.h"
+#include "odemath.h"
+
+
+#define checktype(j,t) dUASSERT(j->type() == dJointType##t, \
+    "joint type is not " #t)
+
+
+void setBall( dxJoint *joint, dReal fps, dReal erp, 
+    int rowskip, dReal *J1, dReal *J2,
+    int pairskip, dReal *pairRhsCfm, 
+    dVector3 anchor1, dVector3 anchor2 );
+void setBall2( dxJoint *joint, dReal fps, dReal erp, 
+    int rowskip, dReal *J1, dReal *J2,
+    int pairskip, dReal *pairRhsCfm, 
+    dVector3 anchor1, dVector3 anchor2,
+    dVector3 axis, dReal erp1 );
+
+void setFixedOrientation( dxJoint *joint, dReal fps, dReal erp, 
+    int rowskip, dReal *J1, dReal *J2,
+    int pairskip, dReal *pairRhsCfm, 
+    dQuaternion qrel );
+
+
+void setAnchors( dxJoint *j, dReal x, dReal y, dReal z,
+    dVector3 anchor1, dVector3 anchor2 );
+
+void getAnchor( dxJoint *j, dVector3 result, dVector3 anchor1 );
+void getAnchor2( dxJoint *j, dVector3 result, dVector3 anchor2 );
+
+void setAxes( dxJoint *j, dReal x, dReal y, dReal z,
+             dVector3 axis1, dVector3 axis2 );
+void getAxis( dxJoint *j, dVector3 result, dVector3 axis1 );
+void getAxis2( dxJoint *j, dVector3 result, dVector3 axis2 );
+
+
+dReal getHingeAngle( dxBody *body1, dxBody *body2, dVector3 axis, dQuaternion q_initial );
+dReal getHingeAngleFromRelativeQuat( dQuaternion qrel, dVector3 axis );
+
+#endif
+