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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_UNIVERSAL_H_
#define _ODE_JOINT_UNIVERSAL_H_
#include "joint.h"
// universal
struct dxJointUniversal : public dxJoint
{
dVector3 anchor1; // anchor w.r.t first body
dVector3 anchor2; // anchor w.r.t second body
dVector3 axis1; // axis w.r.t first body
dVector3 axis2; // axis w.r.t second body
dQuaternion qrel1; // initial relative rotation body1 -> virtual cross piece
dQuaternion qrel2; // initial relative rotation virtual cross piece -> body2
dxJointLimitMotor limot1; // limit and motor information for axis1
dxJointLimitMotor limot2; // limit and motor information for axis2
void getAxes( dVector3 ax1, dVector3 ax2 );
void getAngles( dReal *angle1, dReal *angle2 );
dReal getAngle1();
dReal getAngle2();
void computeInitialRelativeRotations();
dxJointUniversal( 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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