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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_PU_H_
#define _ODE_JOINT_PU_H_
#include "universal.h"
/**
* Component of a Prismatic -- Universal joint.
* The axisP must be perpendicular to axis1.
* The second axis of the universal joint is perpendicular to axis1.
*
* Since the PU joint is derived from the Universal joint. Some variable
* are reused.
*
* anchor1: Vector from body1 to the anchor point
* This vector is calculated when the body are attached or
* when the anchor point is set. It is like the offset of the Slider
* joint. Since their is a prismatic between the anchor and the body1
* the distance might change as the simulation goes on.
* anchor2: Vector from body2 to the anchor point.
* <PRE>
* Body 2
* +-------------+
* | x |
* +------------\+
* Prismatic articulation .. ..
* | .. ..
* Body 1 v .. ..
* +--------------+ --| __.. .. anchor2
* <--------| x | .....|.......(__) ..
* axisP +--------------+ --| ^ <
* |----------------------->|
* anchor1 |--- Universal articulation
* axis1 going out of the plane
* axis2 is perpendicular to axis1
* (i.e. 2 rotoides)
* </PRE>
*/
struct dxJointPU : public dxJointUniversal
{
/// @brief Axis for the prismatic articulation w.r.t first body.
/// @note This is considered as axis2 from the parameter view
dVector3 axisP1;
dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
dxJointPU( 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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