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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 "plane2d.h"
#include "joint_internal.h"
//****************************************************************************
// Plane2D
/*
This code is part of the Plane2D ODE joint
by psero@gmx.de
Wed Apr 23 18:53:43 CEST 2003
*/
static const dReal Midentity[3][3] =
{
{ 1, 0, 0 },
{ 0, 1, 0 },
{ 0, 0, 1, }
};
dxJointPlane2D::dxJointPlane2D( dxWorld *w ) :
dxJoint( w )
{
motor_x.init( world );
motor_y.init( world );
motor_angle.init( world );
}
void
dxJointPlane2D::getSureMaxInfo( SureMaxInfo* info )
{
info->max_m = 6;
}
void
dxJointPlane2D::getInfo1( dxJoint::Info1 *info )
{
info->nub = 3;
info->m = 3;
if ( motor_x.fmax > 0 )
row_motor_x = info->m++;
else
row_motor_x = 0;
if ( motor_y.fmax > 0 )
row_motor_y = info->m++;
else
row_motor_y = 0;
if ( motor_angle.fmax > 0 )
row_motor_angle = info->m++;
else
row_motor_angle = 0;
}
void
dxJointPlane2D::getInfo2( dReal worldFPS, dReal worldERP,
int rowskip, dReal *J1, dReal *J2,
int pairskip, dReal *pairRhsCfm, dReal *pairLoHi,
int *findex )
{
dReal eps = worldFPS * worldERP;
/*
v = v1, w = omega1
(v2, omega2 not important (== static environment))
constraint equations:
vz = 0
wx = 0
wy = 0
<=> ( 0 0 1 ) (vx) ( 0 0 0 ) (wx) ( 0 )
( 0 0 0 ) (vy) + ( 1 0 0 ) (wy) = ( 0 )
( 0 0 0 ) (vz) ( 0 1 0 ) (wz) ( 0 )
J1/J1l Omega1/J1a
*/
// fill in linear and angular coeff. for left hand side:
J1[GI2_JLZ] = 1;
J1[rowskip + GI2_JAX] = 1;
J1[2 * rowskip + GI2_JAY] = 1;
// error correction (against drift):
// a) linear vz, so that z (== pos[2]) == 0
pairRhsCfm[GI2_RHS] = eps * -node[0].body->posr.pos[2];
# if 0
// b) angular correction? -> left to application !!!
dReal *body_z_axis = &node[0].body->R[8];
pairRhsCfm[pairskip + GI2_RHS] = eps * + atan2( body_z_axis[1], body_z_axis[2] ); // wx error
pairRhsCfm[2 * pairskip + GI2_RHS] = eps * -atan2( body_z_axis[0], body_z_axis[2] ); // wy error
# endif
// if the slider is powered, or has joint limits, add in the extra row:
if ( row_motor_x > 0 )
{
int currRowSkip = row_motor_x * rowskip, currPairSkip = row_motor_x * pairskip;
motor_x.addLimot( this, worldFPS, J1 + currRowSkip, J2 + currRowSkip, pairRhsCfm + currPairSkip, pairLoHi + currPairSkip, Midentity[0], 0 );
}
if ( row_motor_y > 0 )
{
int currRowSkip = row_motor_y * rowskip, currPairSkip = row_motor_y * pairskip;
motor_y.addLimot( this, worldFPS, J1 + currRowSkip, J2 + currRowSkip, pairRhsCfm + currPairSkip, pairLoHi + currPairSkip, Midentity[1], 0 );
}
if ( row_motor_angle > 0 )
{
int currRowSkip = row_motor_angle * rowskip, currPairSkip = row_motor_angle * pairskip;
motor_angle.addLimot( this, worldFPS, J1 + currRowSkip, J2 + currRowSkip, pairRhsCfm + currPairSkip, pairLoHi + currPairSkip, Midentity[2], 1 );
}
}
dJointType
dxJointPlane2D::type() const
{
return dJointTypePlane2D;
}
sizeint
dxJointPlane2D::size() const
{
return sizeof( *this );
}
void dJointSetPlane2DXParam( dxJoint *joint,
int parameter, dReal value )
{
dUASSERT( joint, "bad joint argument" );
checktype( joint, Plane2D );
dxJointPlane2D* joint2d = ( dxJointPlane2D* )( joint );
joint2d->motor_x.set( parameter, value );
}
void dJointSetPlane2DYParam( dxJoint *joint,
int parameter, dReal value )
{
dUASSERT( joint, "bad joint argument" );
checktype( joint, Plane2D );
dxJointPlane2D* joint2d = ( dxJointPlane2D* )( joint );
joint2d->motor_y.set( parameter, value );
}
void dJointSetPlane2DAngleParam( dxJoint *joint,
int parameter, dReal value )
{
dUASSERT( joint, "bad joint argument" );
checktype( joint, Plane2D );
dxJointPlane2D* joint2d = ( dxJointPlane2D* )( joint );
joint2d->motor_angle.set( parameter, value );
}
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