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/*************************************************************************
* *
* 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
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