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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_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
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