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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. *
* *
*************************************************************************/
#include <ode/odeconfig.h>
#include "config.h"
#include "fixed.h"
#include "joint_internal.h"
//****************************************************************************
// fixed joint
dxJointFixed::dxJointFixed ( dxWorld *w ) :
dxJoint ( w )
{
dSetZero ( offset, 4 );
dSetZero ( qrel, 4 );
erp = world->global_erp;
cfm = world->global_cfm;
}
void
dxJointFixed::getSureMaxInfo( SureMaxInfo* info )
{
info->max_m = 6;
}
void
dxJointFixed::getInfo1 ( dxJoint::Info1 *info )
{
info->m = 6;
info->nub = 6;
}
void
dxJointFixed::getInfo2 ( dReal worldFPS, dReal worldERP,
int rowskip, dReal *J1, dReal *J2,
int pairskip, dReal *pairRhsCfm, dReal *pairLoHi,
int *findex )
{
// Three rows for orientation
setFixedOrientation ( this, worldFPS, worldERP,
rowskip, J1 + dSA__MAX * rowskip, J2 + dSA__MAX * rowskip,
pairskip, pairRhsCfm + dSA__MAX * pairskip, qrel );
// Three rows for position.
// set Jacobian
J1[GI2_JLX] = 1;
J1[rowskip + GI2_JLY] = 1;
J1[2 * rowskip + GI2_JLZ] = 1;
dReal k = worldFPS * this->erp;
dxBody *b0 = node[0].body, *b1 = node[1].body;
dVector3 ofs;
dMultiply0_331 ( ofs, b0->posr.R, offset );
if ( b1 ) {
dSetCrossMatrixPlus( J1 + GI2__JA_MIN, ofs, rowskip );
J2[GI2_JLX] = -1;
J2[rowskip + GI2_JLY] = -1;
J2[2 * rowskip + GI2_JLZ] = -1;
}
// set right hand side for the first three rows (linear)
if ( b1 ) {
for ( int j = 0, currPairSkip = 0; j < 3; currPairSkip += pairskip, ++j ) {
pairRhsCfm[currPairSkip + GI2_RHS] = k * ( b1->posr.pos[j] - b0->posr.pos[j] + ofs[j] );
}
} else {
for ( int j = 0, currPairSkip = 0; j < 3; currPairSkip += pairskip, ++j ) {
pairRhsCfm[currPairSkip + GI2_RHS] = k * ( offset[j] - b0->posr.pos[j] );
}
}
dReal cfm = this->cfm;
pairRhsCfm[GI2_CFM] = cfm;
pairRhsCfm[pairskip + GI2_CFM] = cfm;
pairRhsCfm[2 * pairskip + GI2_CFM] = cfm;
}
void dJointSetFixed ( dJointID j )
{
dxJointFixed* joint = ( dxJointFixed* ) j;
dUASSERT ( joint, "bad joint argument" );
checktype ( joint, Fixed );
int i;
// This code is taken from dJointSetSliderAxis(), we should really put the
// common code in its own function.
// compute the offset between the bodies
if ( joint->node[0].body )
{
if ( joint->node[1].body )
{
dReal ofs[4];
for ( i = 0; i < 4; i++ )
ofs[i] = joint->node[0].body->posr.pos[i] - joint->node[1].body->posr.pos[i];
dMultiply1_331 ( joint->offset, joint->node[0].body->posr.R, ofs );
}
else
{
joint->offset[0] = joint->node[0].body->posr.pos[0];
joint->offset[1] = joint->node[0].body->posr.pos[1];
joint->offset[2] = joint->node[0].body->posr.pos[2];
}
}
joint->computeInitialRelativeRotation();
}
void dxJointFixed::set ( int num, dReal value )
{
switch ( num )
{
case dParamCFM:
cfm = value;
break;
case dParamERP:
erp = value;
break;
}
}
dReal dxJointFixed::get ( int num )
{
switch ( num )
{
case dParamCFM:
return cfm;
case dParamERP:
return erp;
default:
return 0;
}
}
void dJointSetFixedParam ( dJointID j, int parameter, dReal value )
{
dxJointFixed* joint = ( dxJointFixed* ) j;
dUASSERT ( joint, "bad joint argument" );
checktype ( joint, Fixed );
joint->set ( parameter, value );
}
dReal dJointGetFixedParam ( dJointID j, int parameter )
{
dxJointFixed* joint = ( dxJointFixed* ) j;
dUASSERT ( joint, "bad joint argument" );
checktype ( joint, Fixed );
return joint->get ( parameter );
}
dJointType
dxJointFixed::type() const
{
return dJointTypeFixed;
}
sizeint
dxJointFixed::size() const
{
return sizeof ( *this );
}
void
dxJointFixed::computeInitialRelativeRotation()
{
if (node[0].body )
{
if (node[1].body )
{
dQMultiply1 (qrel, node[0].body->q, node[1].body->q );
}
else
{
// set qrel to the transpose of the first body q
qrel[0] = node[0].body->q[0];
qrel[1] = -node[0].body->q[1];
qrel[2] = -node[0].body->q[2];
qrel[3] = -node[0].body->q[3];
}
}
}
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