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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_PISTON_H_
#define _ODE_JOINT_PISTON_H_
#include "joint.h"
////////////////////////////////////////////////////////////////////////////////
/// Component of a Piston joint
/// <PRE>
/// |- Anchor point
/// Body_1 | Body_2
/// +---------------+ V +------------------+
/// / /| / /|
/// / / + |-- ______ / / +
/// / x /./........x.......(_____()..../ x /.......> axis
/// +---------------+ / |-- +------------------+ /
/// | |/ | |/
/// +---------------+ +------------------+
/// | |
/// | |
/// |------------------> <----------------------------|
/// anchor1 anchor2
///
///
/// </PRE>
///
/// When the prismatic joint as been elongated (i.e. dJointGetPistonPosition)
/// return a value > 0
/// <PRE>
/// |- Anchor point
/// Body_1 | Body_2
/// +---------------+ V +------------------+
/// / /| / /|
/// / / + |-- ______ / / +
/// / x /./........_____x.......(_____()..../ x /.......> axis
/// +---------------+ / |-- +------------------+ /
/// | |/ | |/
/// +---------------+ +------------------+
/// | |
/// | |
/// |------------------> <----------------------------|
/// anchor1 |----| anchor2
/// ^
/// |-- This is what dJointGetPistonPosition will
/// return
/// </PRE>
////////////////////////////////////////////////////////////////////////////////
struct dxJointPiston : public dxJoint
{
dVector3 axis1; ///< Axis of the prismatic and rotoide w.r.t first body
dVector3 axis2; ///< Axis of the prismatic and rotoide w.r.t second body
dQuaternion qrel; ///< Initial relative rotation body1 -> body2
/// Anchor w.r.t first body.
/// This is the same as the offset for the Slider joint
/// @note To find the position of the anchor when the body 1 has moved
/// you must add the position of the prismatic joint
/// i.e anchor = R1 * anchor1 + dJointGetPistonPosition() * (R1 * axis1)
dVector3 anchor1;
dVector3 anchor2; //< anchor w.r.t second body
/// limit and motor information for the prismatic
/// part of the joint
dxJointLimitMotor limotP;
/// limit and motor information for the rotoide
/// part of the joint
dxJointLimitMotor limotR;
dxJointPiston( 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();
};
#endif
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