113 lines
5.3 KiB
C
113 lines
5.3 KiB
C
/*************************************************************************
|
|
* *
|
|
* 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
|
|
|