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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_PR_H_
#define _ODE_JOINT_PR_H_
#include "joint.h"
/**
* The axisP must be perpendicular to axis2
* <PRE>
* +-------------+
* | x |
* +------------\+
* Prismatic articulation .. ..
* | .. ..
* \/ .. ..
* +--------------+ --| __.. .. anchor2
* | x | .....|.......(__) ..
* +--------------+ --| ^ <
* |----------------------->|
* Offset |--- Rotoide articulation
* </PRE>
*/
struct dxJointPR : public dxJoint
{
/// @brief Position of the rotoide articulation w.r.t second body.
/// @note Position of body 2 in world frame + anchor2 in world frame give
/// the position of the rotoide articulation
dVector3 anchor2;
/// axis of the rotoide articulation w.r.t first body.
/// @note This is considered as axis1 from the parameter view.
dVector3 axisR1;
/// axis of the rotoide articulation w.r.t second body.
/// @note This is considered also as axis1 from the parameter view
dVector3 axisR2;
/// axis for the prismatic articulation w.r.t first body.
/// @note This is considered as axis2 in from the parameter view
dVector3 axisP1;
dQuaternion qrel; ///< initial relative rotation body1 -> body2.
/// @brief vector between the body1 and the rotoide articulation.
///
/// Going from the first to the second in the frame of body1.
/// That should be aligned with body1 center along axisP.
/// This is calculated when the axis are set.
dVector3 offset;
dxJointLimitMotor limotR; ///< limit and motor information for the rotoide articulation.
dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
void computeInitialRelativeRotation();
dxJointPR( 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();
};
#endif
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