ode/src/joints/pu.h

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 #ifndef _ODE_JOINT_PU_H_
  24 #define _ODE_JOINT_PU_H_
  25
  26 #include "universal.h"
  27
  28
  29
  30 /**
  31  * Component of a Prismatic -- Universal joint.
  32  * The axisP must be perpendicular to axis1.
  33  * The second axis of the universal joint is perpendicular to axis1.
  34  *
  35  * Since the PU joint is derived from the Universal joint. Some variable
  36  * are reused.
  37  *
  38  * anchor1: Vector from body1 to the anchor point
  39  *          This vector is calculated when the body are attached or
  40  *          when the anchor point is set. It is like the offset of the Slider
  41  *          joint. Since there is a prismatic between the anchor and the body1
  42  *          the distance might change as the simulation goes on.
  43  * anchor2: Vector from body2 to the anchor point.
  44  * <PRE>
  45  *                                                 Body 2
  46  *                                                 +-------------+
  47  *                                                 |      x      |
  48  *                                                 +------------\+
  49  *          Prismatic articulation                   ..     ..
  50  *                                |                ..     ..
  51  *          Body 1                v             ..      ..
  52  *          +--------------+    --|        __..      ..  anchor2
  53  * <--------|      x       | .....|.......(__)     ..
  54  * axisP    +--------------+    --|         ^     <
  55  *                 |----------------------->|
  56  *                     anchor1              |--- Universal articulation
  57  *                                               axis1 going out of the plane
  58  *                                               axis2 is perpendicular to axis1
  59  *                                               (i.e. 2 rotoides)
  60  * </PRE>
  61  */
  62 struct dxJointPU : public dxJointUniversal
  63 {
  64
  65     /// @brief Axis for the prismatic articulation w.r.t first body.
  66     /// @note This is considered as axis2 from the parameter view
  67     dVector3 axisP1;
  68
  69     dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
  70
  71
  72     dxJointPU( dxWorld *w );
  73     virtual void getSureMaxInfo( SureMaxInfo* info );
  74     virtual void getInfo1( Info1* info );
  75     virtual void getInfo2( dReal worldFPS, dReal worldERP,
  76         int rowskip, dReal *J1, dReal *J2,
  77         int pairskip, dReal *pairRhsCfm, dReal *pairLoHi,
  78         int *findex );
  79     virtual dJointType type() const;
  80     virtual sizeint size() const;
  81
  82
  83     virtual void setRelativeValues();
  84 };
  85
  86
  87 #endif
  88