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/slider.h | 59 +++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) create mode 100644 libs/ode-0.16.1/ode/src/joints/slider.h (limited to 'libs/ode-0.16.1/ode/src/joints/slider.h') diff --git a/libs/ode-0.16.1/ode/src/joints/slider.h b/libs/ode-0.16.1/ode/src/joints/slider.h new file mode 100644 index 0000000..de6201e --- /dev/null +++ b/libs/ode-0.16.1/ode/src/joints/slider.h @@ -0,0 +1,59 @@ +/************************************************************************* + * * + * 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_SLIDER_H_ +#define _ODE_JOINT_SLIDER_H_ + +#include "joint.h" + + +// slider. if body2 is 0 then qrel is the absolute rotation of body1 and +// offset is the position of body1 center along axis1. + +struct dxJointSlider : public dxJoint +{ + dVector3 axis1; // axis w.r.t first body + dQuaternion qrel; // initial relative rotation body1 -> body2 + dVector3 offset; // point relative to body2 that should be + // aligned with body1 center along axis1 + dxJointLimitMotor limot; // limit and motor information + + dxJointSlider ( 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(); + + void computeInitialRelativeRotation(); + + void computeOffset(); +}; + + +#endif + -- cgit v1.2.1