From c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 Mon Sep 17 00:00:00 2001 From: sanine Date: Sat, 1 Oct 2022 20:59:36 -0500 Subject: add ode --- libs/ode-0.16.1/ode/src/joints/pu.h | 88 +++++++++++++++++++++++++++++++++++++ 1 file changed, 88 insertions(+) create mode 100644 libs/ode-0.16.1/ode/src/joints/pu.h (limited to 'libs/ode-0.16.1/ode/src/joints/pu.h') 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. + * 
+ *                                                 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)
+ *
+ */ +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 + -- cgit v1.2.1