author | Pat Downey <patd@symbian.org> |
Wed, 01 Sep 2010 12:16:19 +0100 | |
branch | RCL_3 |
changeset 20 | d48ab3b357f1 |
parent 0 | 2f259fa3e83a |
permissions | -rw-r--r-- |
0
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/************************************************************************* |
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* * |
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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* All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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* * |
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* This library is free software; you can redistribute it and/or * |
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* modify it under the terms of EITHER: * |
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* (1) The GNU Lesser General Public License as published by the Free * |
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* Software Foundation; either version 2.1 of the License, or (at * |
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* your option) any later version. The text of the GNU Lesser * |
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* General Public License is included with this library in the * |
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* file LICENSE.TXT. * |
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* (2) The BSD-style license that is included with this library in * |
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* the file LICENSE-BSD.TXT. * |
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* * |
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* This library is distributed in the hope that it will be useful, * |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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* * |
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*************************************************************************/ |
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|
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/* |
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design note: the general principle for giving a joint the option of connecting |
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to the static environment (i.e. the absolute frame) is to check the second |
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body (joint->node[1].body), and if it is zero then behave as if its body |
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transform is the identity. |
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*/ |
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#include <ode/ode.h> |
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#include <ode/odemath.h> |
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#include <ode/rotation.h> |
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#include <ode/matrix.h> |
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#include "joint.h" |
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#define dCROSSMUL(a,op,b,c) \ |
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do { \ |
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(a)[0] op dMUL(REAL(0.5),(dMUL((b)[1],(c)[2]) - dMUL((b)[2],(c)[1]))); \ |
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(a)[1] op dMUL(REAL(0.5),(dMUL((b)[2],(c)[0]) - dMUL((b)[0],(c)[2]))); \ |
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(a)[2] op dMUL(REAL(0.5),(dMUL((b)[0],(c)[1]) - dMUL((b)[1],(c)[0]))); \ |
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} while(0) |
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//**************************************************************************** |
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// externs |
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// extern "C" void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); |
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// extern "C" void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); |
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//**************************************************************************** |
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// utility |
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// set three "ball-and-socket" rows in the constraint equation, and the |
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// corresponding right hand side. |
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static inline void setBall (dxJoint *joint, dxJoint::Info2 *info, |
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dVector3 anchor1, dVector3 anchor2) |
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{ |
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// anchor points in global coordinates with respect to body PORs. |
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dVector3 a1,a2; |
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int s = info->rowskip; |
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// set jacobian |
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info->J1l[0] = REAL(1.0); |
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info->J1l[s+1] = REAL(1.0); |
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info->J1l[2*s+2] = REAL(1.0); |
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dMULTIPLY0_331 (a1,joint->node[0].body->posr.R,anchor1); |
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dCROSSMAT (info->J1a,a1,s,-,+); |
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if (joint->node[1].body) { |
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info->J2l[0] = -REAL(1.0); |
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info->J2l[s+1] = -REAL(1.0); |
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info->J2l[2*s+2] = -REAL(1.0); |
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dMULTIPLY0_331 (a2,joint->node[1].body->posr.R,anchor2); |
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dCROSSMAT (info->J2a,a2,s,+,-); |
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} |
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// set right hand side |
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dReal k = dMUL(info->fps,info->erp); |
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if (joint->node[1].body) { |
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for (int j=0; j<3; j++) { |
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info->c[j] = dMUL(k,(a2[j] + joint->node[1].body->posr.pos[j] - |
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a1[j] - joint->node[0].body->posr.pos[j])); |
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} |
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} |
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else { |
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for (int j=0; j<3; j++) { |
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info->c[j] = dMUL(k,(anchor2[j] - a1[j] - |
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joint->node[0].body->posr.pos[j])); |
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} |
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} |
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} |
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// this is like setBall(), except that `axis' is a unit length vector |
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// (in global coordinates) that should be used for the first jacobian |
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// position row (the other two row vectors will be derived from this). |
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|
99 |
// `erp1' is the erp value to use along the axis. |
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|
100 |
|
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|
101 |
static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info, |
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|
102 |
dVector3 anchor1, dVector3 anchor2, |
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|
103 |
dVector3 axis, dReal erp1) |
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|
104 |
{ |
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|
105 |
// anchor points in global coordinates with respect to body PORs. |
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|
106 |
dVector3 a1,a2; |
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|
107 |
|
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|
108 |
int i,s = info->rowskip; |
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|
109 |
|
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|
110 |
// get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0], |
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|
111 |
// [0 1 0] and [0 0 1], which makes everything much easier. |
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|
112 |
dVector3 q1,q2; |
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|
113 |
dPlaneSpace (axis,q1,q2); |
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|
114 |
|
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|
115 |
// set jacobian |
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|
116 |
for (i=0; i<3; i++) info->J1l[i] = axis[i]; |
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|
117 |
for (i=0; i<3; i++) info->J1l[s+i] = q1[i]; |
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|
118 |
for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i]; |
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|
119 |
dMULTIPLY0_331 (a1,joint->node[0].body->posr.R,anchor1); |
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|
120 |
dCROSS (info->J1a,=,a1,axis); |
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|
121 |
dCROSS (info->J1a+s,=,a1,q1); |
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|
122 |
dCROSS (info->J1a+2*s,=,a1,q2); |
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|
123 |
if (joint->node[1].body) { |
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|
124 |
for (i=0; i<3; i++) info->J2l[i] = -axis[i]; |
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|
125 |
for (i=0; i<3; i++) info->J2l[s+i] = -q1[i]; |
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|
126 |
for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i]; |
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|
127 |
dMULTIPLY0_331 (a2,joint->node[1].body->posr.R,anchor2); |
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|
128 |
dCROSS (info->J2a,= -,a2,axis); |
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|
129 |
dCROSS (info->J2a+s,= -,a2,q1); |
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|
130 |
dCROSS (info->J2a+2*s,= -,a2,q2); |
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|
131 |
} |
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|
132 |
|
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|
133 |
// set right hand side - measure error along (axis,q1,q2) |
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|
134 |
dReal k1 = dMUL(info->fps,erp1); |
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|
135 |
dReal k = dMUL(info->fps,info->erp); |
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|
136 |
|
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|
137 |
for (i=0; i<3; i++) a1[i] += joint->node[0].body->posr.pos[i]; |
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|
138 |
if (joint->node[1].body) { |
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|
139 |
for (i=0; i<3; i++) a2[i] += joint->node[1].body->posr.pos[i]; |
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|
140 |
info->c[0] = dMUL(k1,(dDOT(axis,a2) - dDOT(axis,a1))); |
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|
141 |
info->c[1] = dMUL(k,(dDOT(q1,a2) - dDOT(q1,a1))); |
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|
142 |
info->c[2] = dMUL(k,(dDOT(q2,a2) - dDOT(q2,a1))); |
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|
143 |
} |
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|
144 |
else { |
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|
145 |
info->c[0] = dMUL(k1,(dDOT(axis,anchor2) - dDOT(axis,a1))); |
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|
146 |
info->c[1] = dMUL(k,(dDOT(q1,anchor2) - dDOT(q1,a1))); |
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|
147 |
info->c[2] = dMUL(k,(dDOT(q2,anchor2) - dDOT(q2,a1))); |
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|
148 |
} |
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|
149 |
} |
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|
150 |
|
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|
151 |
|
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Revision: 201003
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|
152 |
// set three orientation rows in the constraint equation, and the |
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Revision: 201003
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|
153 |
// corresponding right hand side. |
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|
154 |
|
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Revision: 201003
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|
155 |
static void setFixedOrientation(dxJoint *joint, dxJoint::Info2 *info, dQuaternion qrel, int start_row) |
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|
156 |
{ |
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Revision: 201003
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|
157 |
int s = info->rowskip; |
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Revision: 201003
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|
158 |
int start_index = start_row * s; |
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Revision: 201003
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parents:
diff
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|
159 |
|
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Revision: 201003
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|
160 |
// 3 rows to make body rotations equal |
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Revision: 201003
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|
161 |
info->J1a[start_index] = REAL(1.0); |
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|
162 |
info->J1a[start_index + s + 1] = REAL(1.0); |
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parents:
diff
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|
163 |
info->J1a[start_index + s*2+2] = REAL(1.0); |
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parents:
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|
164 |
if (joint->node[1].body) { |
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|
165 |
info->J2a[start_index] = REAL(-1.0); |
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parents:
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|
166 |
info->J2a[start_index + s+1] = REAL(-1.0); |
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|
167 |
info->J2a[start_index + s*2+2] = REAL(-1.0); |
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Revision: 201003
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parents:
diff
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|
168 |
} |
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parents:
diff
changeset
|
169 |
|
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Revision: 201003
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|
170 |
// compute the right hand side. the first three elements will result in |
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Revision: 201003
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parents:
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|
171 |
// relative angular velocity of the two bodies - this is set to bring them |
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Revision: 201003
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|
172 |
// back into alignment. the correcting angular velocity is |
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Revision: 201003
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|
173 |
// |angular_velocity| = angle/time = erp*theta / stepsize |
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Revision: 201003
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|
174 |
// = (erp*fps) * theta |
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Revision: 201003
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|
175 |
// angular_velocity = |angular_velocity| * u |
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Revision: 201003
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|
176 |
// = (erp*fps) * theta * u |
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Revision: 201003
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|
177 |
// where rotation along unit length axis u by theta brings body 2's frame |
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Revision: 201003
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parents:
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|
178 |
// to qrel with respect to body 1's frame. using a small angle approximation |
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Revision: 201003
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|
179 |
// for sin(), this gives |
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Revision: 201003
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|
180 |
// angular_velocity = (erp*fps) * 2 * v |
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Revision: 201003
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|
181 |
// where the quaternion of the relative rotation between the two bodies is |
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Revision: 201003
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parents:
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|
182 |
// q = [cos(theta/2) sin(theta/2)*u] = [s v] |
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parents:
diff
changeset
|
183 |
|
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Revision: 201003
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parents:
diff
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|
184 |
// get qerr = relative rotation (rotation error) between two bodies |
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Revision: 201003
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parents:
diff
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|
185 |
dQuaternion qerr,e; |
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Revision: 201003
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parents:
diff
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|
186 |
if (joint->node[1].body) { |
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Revision: 201003
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parents:
diff
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|
187 |
dQuaternion qq; |
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Revision: 201003
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diff
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|
188 |
dQMultiply1 (qq,joint->node[0].body->q,joint->node[1].body->q); |
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Revision: 201003
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parents:
diff
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|
189 |
dQMultiply2 (qerr,qq,qrel); |
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Revision: 201003
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diff
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|
190 |
} |
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Revision: 201003
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parents:
diff
changeset
|
191 |
else { |
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Revision: 201003
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parents:
diff
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|
192 |
dQMultiply3 (qerr,joint->node[0].body->q,qrel); |
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Revision: 201003
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parents:
diff
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|
193 |
} |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
194 |
if (qerr[0] < 0) { |
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Revision: 201003
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|
195 |
qerr[1] = -qerr[1]; // adjust sign of qerr to make theta small |
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|
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qerr[2] = -qerr[2]; |
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|
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qerr[3] = -qerr[3]; |
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|
198 |
} |
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Revision: 201003
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|
199 |
dMULTIPLY0_331 (e,joint->node[0].body->posr.R,qerr+1); // @@@ bad SIMD padding! |
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Revision: 201003
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|
200 |
dReal k = dMUL(info->fps,info->erp); |
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diff
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|
201 |
info->c[start_row] = 2*dMUL(k,e[0]); |
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|
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info->c[start_row+1] = 2*dMUL(k,e[1]); |
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|
203 |
info->c[start_row+2] = 2*dMUL(k,e[2]); |
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|
204 |
} |
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diff
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|
205 |
|
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diff
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|
206 |
|
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|
207 |
// compute anchor points relative to bodies |
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diff
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|
208 |
|
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Revision: 201003
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|
209 |
static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z, |
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diff
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|
210 |
dVector3 anchor1, dVector3 anchor2) |
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|
211 |
{ |
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|
212 |
if (j->node[0].body) { |
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Revision: 201003
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|
213 |
dReal q[4]; |
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Revision: 201003
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|
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q[0] = x - j->node[0].body->posr.pos[0]; |
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Revision: 201003
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diff
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|
215 |
q[1] = y - j->node[0].body->posr.pos[1]; |
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Revision: 201003
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|
216 |
q[2] = z - j->node[0].body->posr.pos[2]; |
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|
217 |
q[3] = 0; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
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|
218 |
dMULTIPLY1_331 (anchor1,j->node[0].body->posr.R,q); |
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diff
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|
219 |
if (j->node[1].body) { |
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Revision: 201003
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|
220 |
q[0] = x - j->node[1].body->posr.pos[0]; |
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Revision: 201003
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parents:
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|
221 |
q[1] = y - j->node[1].body->posr.pos[1]; |
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Revision: 201003
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parents:
diff
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|
222 |
q[2] = z - j->node[1].body->posr.pos[2]; |
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Revision: 201003
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parents:
diff
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|
223 |
q[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
224 |
dMULTIPLY1_331 (anchor2,j->node[1].body->posr.R,q); |
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Revision: 201003
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parents:
diff
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|
225 |
} |
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Revision: 201003
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parents:
diff
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|
226 |
else { |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
227 |
anchor2[0] = x; |
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Revision: 201003
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parents:
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|
228 |
anchor2[1] = y; |
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Revision: 201003
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parents:
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|
229 |
anchor2[2] = z; |
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Revision: 201003
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diff
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|
230 |
} |
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Revision: 201003
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parents:
diff
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|
231 |
} |
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Revision: 201003
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parents:
diff
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|
232 |
anchor1[3] = 0; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
233 |
anchor2[3] = 0; |
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Revision: 201003
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parents:
diff
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|
234 |
} |
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Revision: 201003
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parents:
diff
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|
235 |
|
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Revision: 201003
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parents:
diff
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|
236 |
|
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
237 |
// compute axes relative to bodies. either axis1 or axis2 can be 0. |
2f259fa3e83a
Revision: 201003
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parents:
diff
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|
238 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
239 |
static void setAxes (dxJoint *j, dReal x, dReal y, dReal z, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
240 |
dVector3 axis1, dVector3 axis2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
241 |
{ |
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Revision: 201003
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parents:
diff
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|
242 |
if (j->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
243 |
dReal q[4]; |
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Revision: 201003
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parents:
diff
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|
244 |
q[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
245 |
q[1] = y; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
246 |
q[2] = z; |
2f259fa3e83a
Revision: 201003
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parents:
diff
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|
247 |
q[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
248 |
dNormalize3 (q); |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
249 |
if (axis1) { |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
250 |
dMULTIPLY1_331 (axis1,j->node[0].body->posr.R,q); |
2f259fa3e83a
Revision: 201003
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parents:
diff
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|
251 |
axis1[3] = 0; |
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Revision: 201003
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parents:
diff
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|
252 |
} |
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Revision: 201003
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parents:
diff
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|
253 |
if (axis2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
254 |
if (j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
255 |
dMULTIPLY1_331 (axis2,j->node[1].body->posr.R,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
256 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
257 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
258 |
axis2[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
259 |
axis2[1] = y; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
260 |
axis2[2] = z; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
261 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
262 |
axis2[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
263 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
264 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
265 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
266 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
267 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
268 |
static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
269 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
270 |
if (j->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
271 |
dMULTIPLY0_331 (result,j->node[0].body->posr.R,anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
272 |
result[0] += j->node[0].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
273 |
result[1] += j->node[0].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
274 |
result[2] += j->node[0].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
275 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
276 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
277 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
278 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
279 |
static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
280 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
281 |
if (j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
282 |
dMULTIPLY0_331 (result,j->node[1].body->posr.R,anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
283 |
result[0] += j->node[1].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
284 |
result[1] += j->node[1].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
285 |
result[2] += j->node[1].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
286 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
287 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
288 |
result[0] = anchor2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
289 |
result[1] = anchor2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
290 |
result[2] = anchor2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
291 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
292 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
293 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
294 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
295 |
static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1) |
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296 |
{ |
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297 |
if (j->node[0].body) { |
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298 |
dMULTIPLY0_331 (result,j->node[0].body->posr.R,axis1); |
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299 |
} |
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300 |
} |
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|
301 |
|
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302 |
|
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|
303 |
static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2) |
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|
304 |
{ |
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|
305 |
if (j->node[1].body) { |
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|
306 |
dMULTIPLY0_331 (result,j->node[1].body->posr.R,axis2); |
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|
307 |
} |
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|
308 |
else { |
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|
309 |
result[0] = axis2[0]; |
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310 |
result[1] = axis2[1]; |
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|
311 |
result[2] = axis2[2]; |
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312 |
} |
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313 |
} |
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|
314 |
|
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|
315 |
|
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|
316 |
static dReal getHingeAngleFromRelativeQuat (dQuaternion qrel, dVector3 axis) |
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|
317 |
{ |
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318 |
// the angle between the two bodies is extracted from the quaternion that |
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319 |
// represents the relative rotation between them. recall that a quaternion |
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320 |
// q is: |
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|
321 |
// [s,v] = [ cos(theta/2) , sin(theta/2) * u ] |
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322 |
// where s is a scalar and v is a 3-vector. u is a unit length axis and |
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|
323 |
// theta is a rotation along that axis. we can get theta/2 by: |
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|
324 |
// theta/2 = atan2 ( sin(theta/2) , cos(theta/2) ) |
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|
325 |
// but we can't get sin(theta/2) directly, only its absolute value, i.e.: |
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|
326 |
// |v| = |sin(theta/2)| * |u| |
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|
327 |
// = |sin(theta/2)| |
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|
328 |
// using this value will have a strange effect. recall that there are two |
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|
329 |
// quaternion representations of a given rotation, q and -q. typically as |
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|
330 |
// a body rotates along the axis it will go through a complete cycle using |
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|
331 |
// one representation and then the next cycle will use the other |
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|
332 |
// representation. this corresponds to u pointing in the direction of the |
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|
333 |
// hinge axis and then in the opposite direction. the result is that theta |
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|
334 |
// will appear to go "backwards" every other cycle. here is a fix: if u |
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|
335 |
// points "away" from the direction of the hinge (motor) axis (i.e. more |
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|
336 |
// than 90 degrees) then use -q instead of q. this represents the same |
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|
337 |
// rotation, but results in the cos(theta/2) value being sign inverted. |
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|
338 |
|
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|
339 |
// extract the angle from the quaternion. cost2 = cos(theta/2), |
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|
340 |
// sint2 = |sin(theta/2)| |
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|
341 |
dReal cost2 = qrel[0]; |
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|
342 |
dReal sint2 = dSqrt (dMUL(qrel[1],qrel[1])+dMUL(qrel[2],qrel[2])+dMUL(qrel[3],qrel[3])); |
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|
343 |
dReal theta = (dDOT(qrel+REAL(1.0),axis) >= 0) ? // @@@ padding assumptions |
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|
344 |
(2 * dArcTan2(sint2,cost2)) : // if u points in direction of axis |
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|
345 |
(2 * dArcTan2(sint2,-cost2)); // if u points in opposite direction |
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|
346 |
|
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|
347 |
// the angle we get will be between 0..2*pi, but we want to return angles |
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|
348 |
// between -pi..pi |
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|
349 |
if (theta > dPI) theta -= 2*dPI; |
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|
350 |
|
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|
351 |
// the angle we've just extracted has the wrong sign |
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|
352 |
theta = -theta; |
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|
353 |
|
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|
354 |
return theta; |
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|
355 |
} |
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diff
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|
356 |
|
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|
357 |
|
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|
358 |
// given two bodies (body1,body2), the hinge axis that they are connected by |
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Revision: 201003
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|
359 |
// w.r.t. body1 (axis), and the initial relative orientation between them |
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|
360 |
// (q_initial), return the relative rotation angle. the initial relative |
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Revision: 201003
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|
361 |
// orientation corresponds to an angle of zero. if body2 is 0 then measure the |
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Revision: 201003
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|
362 |
// angle between body1 and the static frame. |
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|
363 |
// |
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Revision: 201003
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|
364 |
// this will not return the correct angle if the bodies rotate along any axis |
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Revision: 201003
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|
365 |
// other than the given hinge axis. |
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Revision: 201003
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|
366 |
|
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Revision: 201003
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|
367 |
static dReal getHingeAngle (dxBody *body1, dxBody *body2, dVector3 axis, |
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|
368 |
dQuaternion q_initial) |
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|
369 |
{ |
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Revision: 201003
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|
370 |
// get qrel = relative rotation between the two bodies |
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Revision: 201003
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|
371 |
dQuaternion qrel; |
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|
372 |
if (body2) { |
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Revision: 201003
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|
373 |
dQuaternion qq; |
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|
374 |
dQMultiply1 (qq,body1->q,body2->q); |
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|
375 |
dQMultiply2 (qrel,qq,q_initial); |
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|
376 |
} |
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|
377 |
else { |
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Revision: 201003
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|
378 |
// pretend body2->q is the identity |
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|
379 |
dQMultiply3 (qrel,body1->q,q_initial); |
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Revision: 201003
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|
380 |
} |
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Revision: 201003
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parents:
diff
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|
381 |
|
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Revision: 201003
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diff
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|
382 |
return getHingeAngleFromRelativeQuat (qrel,axis); |
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Revision: 201003
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parents:
diff
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|
383 |
} |
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Revision: 201003
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parents:
diff
changeset
|
384 |
|
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Revision: 201003
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parents:
diff
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|
385 |
//**************************************************************************** |
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Revision: 201003
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parents:
diff
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|
386 |
// dxJointLimitMotor |
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Revision: 201003
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parents:
diff
changeset
|
387 |
|
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
388 |
void dxJointLimitMotor::init (dxWorld *world) |
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Revision: 201003
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diff
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|
389 |
{ |
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Revision: 201003
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parents:
diff
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|
390 |
vel = 0; |
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Revision: 201003
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diff
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|
391 |
fmax = 0; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
392 |
lostop = -dInfinity; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
393 |
histop = dInfinity; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
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|
394 |
fudge_factor = REAL(1.0); |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
395 |
normal_cfm = world->global_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
396 |
stop_erp = world->global_erp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
397 |
stop_cfm = world->global_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
398 |
bounce = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
399 |
limit = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
400 |
limit_err = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
401 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
402 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
403 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
404 |
void dxJointLimitMotor::set (int num, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
405 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
406 |
switch (num) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
407 |
case dParamLoStop: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
408 |
lostop = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
409 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
410 |
case dParamHiStop: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
411 |
histop = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
412 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
413 |
case dParamVel: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
414 |
vel = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
415 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
416 |
case dParamFMax: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
417 |
if (value >= 0) fmax = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
418 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
419 |
case dParamFudgeFactor: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
420 |
if (value >= 0 && value <= REAL(1.0)) fudge_factor = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
421 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
422 |
case dParamBounce: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
423 |
bounce = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
424 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
425 |
case dParamCFM: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
426 |
normal_cfm = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
427 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
428 |
case dParamStopERP: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
429 |
stop_erp = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
430 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
431 |
case dParamStopCFM: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
432 |
stop_cfm = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
433 |
break; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
434 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
435 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
436 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
437 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
438 |
dReal dxJointLimitMotor::get (int num) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
439 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
440 |
switch (num) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
441 |
case dParamLoStop: return lostop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
442 |
case dParamHiStop: return histop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
443 |
case dParamVel: return vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
444 |
case dParamFMax: return fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
445 |
case dParamFudgeFactor: return fudge_factor; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
446 |
case dParamBounce: return bounce; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
447 |
case dParamCFM: return normal_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
448 |
case dParamStopERP: return stop_erp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
449 |
case dParamStopCFM: return stop_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
450 |
default: return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
451 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
452 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
453 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
454 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
455 |
int dxJointLimitMotor::testRotationalLimit (dReal angle) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
456 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
457 |
if (angle <= lostop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
458 |
limit = 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
459 |
limit_err = angle - lostop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
460 |
return 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
461 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
462 |
else if (angle >= histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
463 |
limit = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
464 |
limit_err = angle - histop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
465 |
return 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
466 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
467 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
468 |
limit = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
469 |
return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
470 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
471 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
472 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
473 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
474 |
int dxJointLimitMotor::addLimot (dxJoint *joint, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
475 |
dxJoint::Info2 *info, int row, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
476 |
const dVector3 ax1, int rotational) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
477 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
478 |
int srow = row * info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
479 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
480 |
// if the joint is powered, or has joint limits, add in the extra row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
481 |
int powered = fmax > 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
482 |
if (powered || limit) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
483 |
dReal *J1 = rotational ? info->J1a : info->J1l; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
484 |
dReal *J2 = rotational ? info->J2a : info->J2l; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
485 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
486 |
J1[srow+0] = ax1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
487 |
J1[srow+1] = ax1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
488 |
J1[srow+2] = ax1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
489 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
490 |
J2[srow+0] = -ax1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
491 |
J2[srow+1] = -ax1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
492 |
J2[srow+2] = -ax1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
493 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
494 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
495 |
// linear limot torque decoupling step: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
496 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
497 |
// if this is a linear limot (e.g. from a slider), we have to be careful |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
498 |
// that the linear constraint forces (+/- ax1) applied to the two bodies |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
499 |
// do not create a torque couple. in other words, the points that the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
500 |
// constraint force is applied at must lie along the same ax1 axis. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
501 |
// a torque couple will result in powered or limited slider-jointed free |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
502 |
// bodies from gaining angular momentum. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
503 |
// the solution used here is to apply the constraint forces at the point |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
504 |
// halfway between the body centers. there is no penalty (other than an |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
505 |
// extra tiny bit of computation) in doing this adjustment. note that we |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
506 |
// only need to do this if the constraint connects two bodies. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
507 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
508 |
dVector3 ltd = {}; // Linear Torque Decoupling vector (a torque) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
509 |
if (!rotational && joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
510 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
511 |
c[0]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[0]-joint->node[0].body->posr.pos[0])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
512 |
c[1]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
513 |
c[2]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.pos[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
514 |
dCROSS (ltd,=,c,ax1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
515 |
info->J1a[srow+0] = ltd[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
516 |
info->J1a[srow+1] = ltd[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
517 |
info->J1a[srow+2] = ltd[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
518 |
info->J2a[srow+0] = ltd[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
519 |
info->J2a[srow+1] = ltd[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
520 |
info->J2a[srow+2] = ltd[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
521 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
522 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
523 |
// if we're limited low and high simultaneously, the joint motor is |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
524 |
// ineffective |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
525 |
if (limit && (lostop == histop)) powered = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
526 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
527 |
if (powered) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
528 |
info->cfm[row] = normal_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
529 |
if (! limit) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
530 |
info->c[row] = vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
531 |
info->lo[row] = -fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
532 |
info->hi[row] = fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
533 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
534 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
535 |
// the joint is at a limit, AND is being powered. if the joint is |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
536 |
// being powered into the limit then we apply the maximum motor force |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
537 |
// in that direction, because the motor is working against the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
538 |
// immovable limit. if the joint is being powered away from the limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
539 |
// then we have problems because actually we need *two* lcp |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
540 |
// constraints to handle this case. so we fake it and apply some |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
541 |
// fraction of the maximum force. the fraction to use can be set as |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
542 |
// a fudge factor. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
543 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
544 |
dReal fm = fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
545 |
if ((vel > 0) || (vel==0 && limit==2)) fm = -fm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
546 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
547 |
// if we're powering away from the limit, apply the fudge factor |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
548 |
if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) fm *= fudge_factor; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
549 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
550 |
if (rotational) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
551 |
dBodyAddTorque (joint->node[0].body,-dMUL(fm,ax1[0]),-dMUL(fm,ax1[1]), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
552 |
-dMUL(fm,ax1[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
553 |
if (joint->node[1].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
554 |
dBodyAddTorque (joint->node[1].body,dMUL(fm,ax1[0]),dMUL(fm,ax1[1]),dMUL(fm,ax1[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
555 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
556 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
557 |
dBodyAddForce (joint->node[0].body,-dMUL(fm,ax1[0]),-dMUL(fm,ax1[1]),-dMUL(fm,ax1[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
558 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
559 |
dBodyAddForce (joint->node[1].body,dMUL(fm,ax1[0]),dMUL(fm,ax1[1]),dMUL(fm,ax1[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
560 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
561 |
// linear limot torque decoupling step: refer to above discussion |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
562 |
dBodyAddTorque (joint->node[0].body,-dMUL(fm,ltd[0]),-dMUL(fm,ltd[1]), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
563 |
-dMUL(fm,ltd[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
564 |
dBodyAddTorque (joint->node[1].body,-dMUL(fm,ltd[0]),-dMUL(fm,ltd[1]), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
565 |
-dMUL(fm,ltd[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
566 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
567 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
568 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
569 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
570 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
571 |
if (limit) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
572 |
dReal k = dMUL(info->fps,stop_erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
573 |
info->c[row] = -dMUL(k,limit_err); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
574 |
info->cfm[row] = stop_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
575 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
576 |
if (lostop == histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
577 |
// limited low and high simultaneously |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
578 |
info->lo[row] = -dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
579 |
info->hi[row] = dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
580 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
581 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
582 |
if (limit == 1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
583 |
// low limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
584 |
info->lo[row] = REAL(0.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
585 |
info->hi[row] = dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
586 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
587 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
588 |
// high limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
589 |
info->lo[row] = -dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
590 |
info->hi[row] = REAL(0.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
591 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
592 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
593 |
// deal with bounce |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
594 |
if (bounce > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
595 |
// calculate joint velocity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
596 |
dReal vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
597 |
if (rotational) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
598 |
vel = dDOT(joint->node[0].body->avel,ax1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
599 |
if (joint->node[1].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
600 |
vel -= dDOT(joint->node[1].body->avel,ax1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
601 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
602 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
603 |
vel = dDOT(joint->node[0].body->lvel,ax1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
604 |
if (joint->node[1].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
605 |
vel -= dDOT(joint->node[1].body->lvel,ax1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
606 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
607 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
608 |
// only apply bounce if the velocity is incoming, and if the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
609 |
// resulting c[] exceeds what we already have. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
610 |
if (limit == 1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
611 |
// low limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
612 |
if (vel < 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
613 |
dReal newc = -dMUL(bounce,vel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
614 |
if (newc > info->c[row]) info->c[row] = newc; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
615 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
616 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
617 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
618 |
// high limit - all those computations are reversed |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
619 |
if (vel > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
620 |
dReal newc = -dMUL(bounce,vel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
621 |
if (newc < info->c[row]) info->c[row] = newc; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
622 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
623 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
624 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
625 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
626 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
627 |
return 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
628 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
629 |
else return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
630 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
631 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
632 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
633 |
// ball and socket |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
634 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
635 |
static void ballInit (dxJointBall *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
636 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
637 |
dSetZero (j->anchor1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
638 |
dSetZero (j->anchor2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
639 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
640 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
641 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
642 |
static void ballGetInfo1 (dxJointBall */*j*/, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
643 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
644 |
info->m = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
645 |
info->nub = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
646 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
647 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
648 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
649 |
static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
650 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
651 |
setBall (joint,info,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
652 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
653 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
654 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
655 |
EXPORT_C void dJointSetBallAnchor (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
656 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
657 |
dxJointBall* joint = (dxJointBall*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
658 |
setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
659 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
660 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
661 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
662 |
EXPORT_C void dJointSetBallAnchor2 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
663 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
664 |
dxJointBall* joint = (dxJointBall*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
665 |
joint->anchor2[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
666 |
joint->anchor2[1] = y; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
667 |
joint->anchor2[2] = z; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
668 |
joint->anchor2[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
669 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
670 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
671 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
672 |
EXPORT_C void dJointGetBallAnchor (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
673 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
674 |
dxJointBall* joint = (dxJointBall*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
675 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
676 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
677 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
678 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
679 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
680 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
681 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
682 |
EXPORT_C void dJointGetBallAnchor2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
683 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
684 |
dxJointBall* joint = (dxJointBall*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
685 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
686 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
687 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
688 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
689 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
690 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
691 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
692 |
dxJoint::Vtable __dball_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
693 |
sizeof(dxJointBall), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
694 |
(dxJoint::init_fn*) ballInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
695 |
(dxJoint::getInfo1_fn*) ballGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
696 |
(dxJoint::getInfo2_fn*) ballGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
697 |
dJointTypeBall}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
698 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
699 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
700 |
// hinge |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
701 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
702 |
static void hingeInit (dxJointHinge *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
703 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
704 |
dSetZero (j->anchor1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
705 |
dSetZero (j->anchor2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
706 |
dSetZero (j->axis1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
707 |
j->axis1[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
708 |
dSetZero (j->axis2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
709 |
j->axis2[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
710 |
dSetZero (j->qrel,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
711 |
j->limot.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
712 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
713 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
714 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
715 |
static void hingeGetInfo1 (dxJointHinge *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
716 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
717 |
info->nub = 5; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
718 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
719 |
// see if joint is powered |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
720 |
if (j->limot.fmax > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
721 |
info->m = 6; // powered hinge needs an extra constraint row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
722 |
else info->m = 5; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
723 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
724 |
// see if we're at a joint limit. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
725 |
if ((j->limot.lostop >= -dPI || j->limot.histop <= dPI) && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
726 |
j->limot.lostop <= j->limot.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
727 |
dReal angle = getHingeAngle (j->node[0].body,j->node[1].body,j->axis1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
728 |
j->qrel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
729 |
if (j->limot.testRotationalLimit (angle)) info->m = 6; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
730 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
731 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
732 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
733 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
734 |
static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
735 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
736 |
// set the three ball-and-socket rows |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
737 |
setBall (joint,info,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
738 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
739 |
// set the two hinge rows. the hinge axis should be the only unconstrained |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
740 |
// rotational axis, the angular velocity of the two bodies perpendicular to |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
741 |
// the hinge axis should be equal. thus the constraint equations are |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
742 |
// p*w1 - p*w2 = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
743 |
// q*w1 - q*w2 = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
744 |
// where p and q are unit vectors normal to the hinge axis, and w1 and w2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
745 |
// are the angular velocity vectors of the two bodies. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
746 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
747 |
dVector3 ax1; // length 1 joint axis in global coordinates, from 1st body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
748 |
dVector3 p,q; // plane space vectors for ax1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
749 |
dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
750 |
dPlaneSpace (ax1,p,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
751 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
752 |
int s3=3*info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
753 |
int s4=4*info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
754 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
755 |
info->J1a[s3+0] = p[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
756 |
info->J1a[s3+1] = p[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
757 |
info->J1a[s3+2] = p[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
758 |
info->J1a[s4+0] = q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
759 |
info->J1a[s4+1] = q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
760 |
info->J1a[s4+2] = q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
761 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
762 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
763 |
info->J2a[s3+0] = -p[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
764 |
info->J2a[s3+1] = -p[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
765 |
info->J2a[s3+2] = -p[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
766 |
info->J2a[s4+0] = -q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
767 |
info->J2a[s4+1] = -q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
768 |
info->J2a[s4+2] = -q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
769 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
770 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
771 |
// compute the right hand side of the constraint equation. set relative |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
772 |
// body velocities along p and q to bring the hinge back into alignment. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
773 |
// if ax1,ax2 are the unit length hinge axes as computed from body1 and |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
774 |
// body2, we need to rotate both bodies along the axis u = (ax1 x ax2). |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
775 |
// if `theta' is the angle between ax1 and ax2, we need an angular velocity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
776 |
// along u to cover angle erp*theta in one step : |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
777 |
// |angular_velocity| = angle/time = erp*theta / stepsize |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
778 |
// = (erp*fps) * theta |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
779 |
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
780 |
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
781 |
// ...as ax1 and ax2 are unit length. if theta is smallish, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
782 |
// theta ~= sin(theta), so |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
783 |
// angular_velocity = (erp*fps) * (ax1 x ax2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
784 |
// ax1 x ax2 is in the plane space of ax1, so we project the angular |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
785 |
// velocity to p and q to find the right hand side. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
786 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
787 |
dVector3 ax2,b; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
788 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
789 |
dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
790 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
791 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
792 |
ax2[0] = joint->axis2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
793 |
ax2[1] = joint->axis2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
794 |
ax2[2] = joint->axis2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
795 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
796 |
dCROSS (b,=,ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
797 |
dReal k = dMUL(info->fps,info->erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
798 |
info->c[3] = dMUL(k,dDOT(b,p)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
799 |
info->c[4] = dMUL(k,dDOT(b,q)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
800 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
801 |
// if the hinge is powered, or has joint limits, add in the stuff |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
802 |
joint->limot.addLimot (joint,info,5,ax1,1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
803 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
804 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
805 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
806 |
// compute initial relative rotation body1 -> body2, or env -> body1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
807 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
808 |
static void hingeComputeInitialRelativeRotation (dxJointHinge *joint) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
809 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
810 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
811 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
812 |
dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
813 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
814 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
815 |
// set joint->qrel to the transpose of the first body q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
816 |
joint->qrel[0] = joint->node[0].body->q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
817 |
for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
818 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
819 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
820 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
821 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
822 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
823 |
EXPORT_C void dJointSetHingeAnchor (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
824 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
825 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
826 |
setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
827 |
hingeComputeInitialRelativeRotation (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
828 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
829 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
830 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
831 |
EXPORT_C void dJointSetHingeAnchorDelta (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
832 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
833 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
834 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
835 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
836 |
dReal q[4]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
837 |
q[0] = x - joint->node[0].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
838 |
q[1] = y - joint->node[0].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
839 |
q[2] = z - joint->node[0].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
840 |
q[3] = REAL(0.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
841 |
dMULTIPLY1_331 (joint->anchor1,joint->node[0].body->posr.R,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
842 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
843 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
844 |
q[0] = x - joint->node[1].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
845 |
q[1] = y - joint->node[1].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
846 |
q[2] = z - joint->node[1].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
847 |
q[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
848 |
dMULTIPLY1_331 (joint->anchor2,joint->node[1].body->posr.R,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
849 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
850 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
851 |
// Move the relative displacement between the passive body and the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
852 |
// anchor in the same direction as the passive body has just moved |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
853 |
joint->anchor2[0] = x + dx; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
854 |
joint->anchor2[1] = y + dy; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
855 |
joint->anchor2[2] = z + dz; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
856 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
857 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
858 |
joint->anchor1[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
859 |
joint->anchor2[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
860 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
861 |
hingeComputeInitialRelativeRotation (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
862 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
863 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
864 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
865 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
866 |
EXPORT_C void dJointSetHingeAxis (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
867 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
868 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
869 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
870 |
setAxes (joint,x,y,z,joint->axis1,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
871 |
hingeComputeInitialRelativeRotation (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
872 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
873 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
874 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
875 |
EXPORT_C void dJointGetHingeAnchor (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
876 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
877 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
878 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
879 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
880 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
881 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
882 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
883 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
884 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
885 |
EXPORT_C void dJointGetHingeAnchor2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
886 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
887 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
888 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
889 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
890 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
891 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
892 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
893 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
894 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
895 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
896 |
EXPORT_C void dJointGetHingeAxis (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
897 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
898 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
899 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
900 |
getAxis (joint,result,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
901 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
902 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
903 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
904 |
EXPORT_C void dJointSetHingeParam (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
905 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
906 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
907 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
908 |
joint->limot.set (parameter,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
909 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
910 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
911 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
912 |
EXPORT_C dReal dJointGetHingeParam (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
913 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
914 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
915 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
916 |
return joint->limot.get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
917 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
918 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
919 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
920 |
EXPORT_C dReal dJointGetHingeAngle (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
921 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
922 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
923 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
924 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
925 |
dReal ang = getHingeAngle (joint->node[0].body,joint->node[1].body,joint->axis1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
926 |
joint->qrel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
927 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
928 |
return -ang; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
929 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
930 |
return ang; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
931 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
932 |
else return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
933 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
934 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
935 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
936 |
EXPORT_C dReal dJointGetHingeAngleRate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
937 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
938 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
939 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
940 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
941 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
942 |
dMULTIPLY0_331 (axis,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
943 |
dReal rate = dDOT(axis,joint->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
944 |
if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
945 |
if (joint->flags & dJOINT_REVERSE) rate = - rate; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
946 |
return rate; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
947 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
948 |
else return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
949 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
950 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
951 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
952 |
EXPORT_C void dJointAddHingeTorque (dJointID j, dReal torque) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
953 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
954 |
dxJointHinge* joint = (dxJointHinge*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
955 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
956 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
957 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
958 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
959 |
torque = -torque; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
960 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
961 |
getAxis (joint,axis,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
962 |
axis[0] = dMUL(axis[0],torque); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
963 |
axis[1] = dMUL(axis[1],torque); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
964 |
axis[2] = dMUL(axis[2],torque); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
965 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
966 |
if (joint->node[0].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
967 |
dBodyAddTorque (joint->node[0].body, axis[0], axis[1], axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
968 |
if (joint->node[1].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
969 |
dBodyAddTorque(joint->node[1].body, -axis[0], -axis[1], -axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
970 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
971 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
972 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
973 |
dxJoint::Vtable __dhinge_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
974 |
sizeof(dxJointHinge), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
975 |
(dxJoint::init_fn*) hingeInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
976 |
(dxJoint::getInfo1_fn*) hingeGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
977 |
(dxJoint::getInfo2_fn*) hingeGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
978 |
dJointTypeHinge}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
979 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
980 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
981 |
// slider |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
982 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
983 |
static void sliderInit (dxJointSlider *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
984 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
985 |
dSetZero (j->axis1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
986 |
j->axis1[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
987 |
dSetZero (j->qrel,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
988 |
dSetZero (j->offset,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
989 |
j->limot.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
990 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
991 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
992 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
993 |
EXPORT_C dReal dJointGetSliderPosition (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
994 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
995 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
996 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
997 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
998 |
// get axis1 in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
999 |
dVector3 ax1,q; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1000 |
dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1001 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1002 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1003 |
// get body2 + offset point in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1004 |
dMULTIPLY0_331 (q,joint->node[1].body->posr.R,joint->offset); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1005 |
for (int i=0; i<3; i++) q[i] = joint->node[0].body->posr.pos[i] - q[i] - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1006 |
joint->node[1].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1007 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1008 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1009 |
for (int i=0; i<3; i++) q[i] = joint->node[0].body->posr.pos[i] - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1010 |
joint->offset[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1011 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1012 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1013 |
return dDOT(ax1,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1014 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1015 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1016 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1017 |
EXPORT_C dReal dJointGetSliderPositionRate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1018 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1019 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1020 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1021 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1022 |
// get axis1 in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1023 |
dVector3 ax1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1024 |
dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1025 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1026 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1027 |
return dDOT(ax1,joint->node[0].body->lvel) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1028 |
dDOT(ax1,joint->node[1].body->lvel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1029 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1030 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1031 |
return dDOT(ax1,joint->node[0].body->lvel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1032 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1033 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1034 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1035 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1036 |
static void sliderGetInfo1 (dxJointSlider *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1037 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1038 |
info->nub = 5; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1039 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1040 |
// see if joint is powered |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1041 |
if (j->limot.fmax > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1042 |
info->m = 6; // powered slider needs an extra constraint row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1043 |
else info->m = 5; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1044 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1045 |
// see if we're at a joint limit. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1046 |
j->limot.limit = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1047 |
if ((j->limot.lostop > -dInfinity || j->limot.histop < dInfinity) && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1048 |
j->limot.lostop <= j->limot.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1049 |
// measure joint position |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1050 |
dReal pos = dJointGetSliderPosition (j); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1051 |
if (pos <= j->limot.lostop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1052 |
j->limot.limit = 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1053 |
j->limot.limit_err = pos - j->limot.lostop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1054 |
info->m = 6; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1055 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1056 |
else if (pos >= j->limot.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1057 |
j->limot.limit = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1058 |
j->limot.limit_err = pos - j->limot.histop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1059 |
info->m = 6; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1060 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1061 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1062 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1063 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1064 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1065 |
static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1066 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1067 |
int i,s = info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1068 |
int s3=3*s,s4=4*s; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1069 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1070 |
// pull out pos and R for both bodies. also get the `connection' |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1071 |
// vector pos2-pos1. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1072 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1073 |
dReal *pos1,*pos2,*R1,*R2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1074 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1075 |
pos1 = joint->node[0].body->posr.pos; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1076 |
R1 = joint->node[0].body->posr.R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1077 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1078 |
pos2 = joint->node[1].body->posr.pos; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1079 |
R2 = joint->node[1].body->posr.R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1080 |
for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1081 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1082 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1083 |
pos2 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1084 |
R2 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1085 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1086 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1087 |
// 3 rows to make body rotations equal |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1088 |
setFixedOrientation(joint, info, joint->qrel, 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1089 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1090 |
// remaining two rows. we want: vel2 = vel1 + w1 x c ... but this would |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1091 |
// result in three equations, so we project along the planespace vectors |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1092 |
// so that sliding along the slider axis is disregarded. for symmetry we |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1093 |
// also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1094 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1095 |
dVector3 ax1; // joint axis in global coordinates (unit length) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1096 |
dVector3 p,q; // plane space of ax1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1097 |
dMULTIPLY0_331 (ax1,R1,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1098 |
dPlaneSpace (ax1,p,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1099 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1100 |
dVector3 tmp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1101 |
dCROSSMUL (tmp, = ,c,p); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1102 |
for (i=0; i<3; i++) info->J1a[s3+i] = tmp[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1103 |
for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1104 |
dCROSSMUL (tmp, = ,c,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1105 |
for (i=0; i<3; i++) info->J1a[s4+i] = tmp[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1106 |
for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1107 |
for (i=0; i<3; i++) info->J2l[s3+i] = -p[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1108 |
for (i=0; i<3; i++) info->J2l[s4+i] = -q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1109 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1110 |
for (i=0; i<3; i++) info->J1l[s3+i] = p[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1111 |
for (i=0; i<3; i++) info->J1l[s4+i] = q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1112 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1113 |
// compute last two elements of right hand side. we want to align the offset |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1114 |
// point (in body 2's frame) with the center of body 1. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1115 |
dReal k = dMUL(info->fps,info->erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1116 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1117 |
dVector3 ofs; // offset point in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1118 |
dMULTIPLY0_331 (ofs,R2,joint->offset); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1119 |
for (i=0; i<3; i++) c[i] += ofs[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1120 |
info->c[3] = dMUL(k,dDOT(p,c)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1121 |
info->c[4] = dMUL(k,dDOT(q,c)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1122 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1123 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1124 |
dVector3 ofs; // offset point in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1125 |
for (i=0; i<3; i++) ofs[i] = joint->offset[i] - pos1[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1126 |
info->c[3] = dMUL(k,dDOT(p,ofs)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1127 |
info->c[4] = dMUL(k,dDOT(q,ofs)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1128 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1129 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1130 |
// if the slider is powered, or has joint limits, add in the extra row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1131 |
joint->limot.addLimot (joint,info,5,ax1,0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1132 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1133 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1134 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1135 |
EXPORT_C void dJointSetSliderAxis (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1136 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1137 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1138 |
int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1139 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1140 |
setAxes (joint,x,y,z,joint->axis1,0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1141 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1142 |
// compute initial relative rotation body1 -> body2, or env -> body1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1143 |
// also compute center of body1 w.r.t body 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1144 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1145 |
dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1146 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1147 |
for (i=0; i<3; i++) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1148 |
c[i] = joint->node[0].body->posr.pos[i] - joint->node[1].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1149 |
dMULTIPLY1_331 (joint->offset,joint->node[1].body->posr.R,c); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1150 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1151 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1152 |
// set joint->qrel to the transpose of the first body's q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1153 |
joint->qrel[0] = joint->node[0].body->q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1154 |
for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1155 |
for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1156 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1157 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1158 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1159 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1160 |
EXPORT_C void dJointSetSliderAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1161 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1162 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1163 |
int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1164 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1165 |
setAxes (joint,x,y,z,joint->axis1,0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1166 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1167 |
// compute initial relative rotation body1 -> body2, or env -> body1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1168 |
// also compute center of body1 w.r.t body 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1169 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1170 |
dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1171 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1172 |
for (i=0; i<3; i++) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1173 |
c[i] = joint->node[0].body->posr.pos[i] - joint->node[1].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1174 |
dMULTIPLY1_331 (joint->offset,joint->node[1].body->posr.R,c); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1175 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1176 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1177 |
// set joint->qrel to the transpose of the first body's q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1178 |
joint->qrel[0] = joint->node[0].body->q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1179 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1180 |
for (i=1; i<4; i++) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1181 |
joint->qrel[i] = -joint->node[0].body->q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1182 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1183 |
joint->offset[0] = joint->node[0].body->posr.pos[0] + dx; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1184 |
joint->offset[1] = joint->node[0].body->posr.pos[1] + dy; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1185 |
joint->offset[2] = joint->node[0].body->posr.pos[2] + dz; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1186 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1187 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1188 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1189 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1190 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1191 |
EXPORT_C void dJointGetSliderAxis (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1192 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1193 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1194 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1195 |
getAxis (joint,result,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1196 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1197 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1198 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1199 |
EXPORT_C void dJointSetSliderParam (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1200 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1201 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1202 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1203 |
joint->limot.set (parameter,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1204 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1205 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1206 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1207 |
EXPORT_C dReal dJointGetSliderParam (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1208 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1209 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1210 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1211 |
return joint->limot.get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1212 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1213 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1214 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1215 |
EXPORT_C void dJointAddSliderForce (dJointID j, dReal force) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1216 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1217 |
dxJointSlider* joint = (dxJointSlider*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1218 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1219 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1220 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1221 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1222 |
force -= force; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1223 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1224 |
getAxis (joint,axis,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1225 |
axis[0] = dMUL(axis[0],force); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1226 |
axis[1] = dMUL(axis[1],force); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1227 |
axis[2] = dMUL(axis[2],force); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1228 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1229 |
if (joint->node[0].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1230 |
dBodyAddForce (joint->node[0].body,axis[0],axis[1],axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1231 |
if (joint->node[1].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1232 |
dBodyAddForce(joint->node[1].body, -axis[0], -axis[1], -axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1233 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1234 |
if (joint->node[0].body != 0 && joint->node[1].body != 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1235 |
// linear torque decoupling: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1236 |
// we have to compensate the torque, that this slider force may generate |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1237 |
// if body centers are not aligned along the slider axis |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1238 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1239 |
dVector3 ltd; // Linear Torque Decoupling vector (a torque) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1240 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1241 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1242 |
c[0]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[0]-joint->node[0].body->posr.pos[0])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1243 |
c[1]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1244 |
c[2]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.pos[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1245 |
dCROSS (ltd,=,c,axis); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1246 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1247 |
dBodyAddTorque (joint->node[0].body,ltd[0],ltd[1], ltd[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1248 |
dBodyAddTorque (joint->node[1].body,ltd[0],ltd[1], ltd[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1249 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1250 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1251 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1252 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1253 |
dxJoint::Vtable __dslider_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1254 |
sizeof(dxJointSlider), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1255 |
(dxJoint::init_fn*) sliderInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1256 |
(dxJoint::getInfo1_fn*) sliderGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1257 |
(dxJoint::getInfo2_fn*) sliderGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1258 |
dJointTypeSlider}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1259 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1260 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1261 |
// contact |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1262 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1263 |
static void contactInit (dxJointContact */*j*/) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1264 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1265 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1266 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1267 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1268 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1269 |
static void contactGetInfo1 (dxJointContact *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1270 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1271 |
// make sure mu's >= 0, then calculate number of constraint rows and number |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1272 |
// of unbounded rows. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1273 |
int m = 1, nub=0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1274 |
if (j->contact.surface.mu < 0) j->contact.surface.mu = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1275 |
if (j->contact.surface.mode & dContactMu2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1276 |
if (j->contact.surface.mu > 0) m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1277 |
if (j->contact.surface.mu2 < 0) j->contact.surface.mu2 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1278 |
if (j->contact.surface.mu2 > 0) m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1279 |
if (j->contact.surface.mu == dInfinity) nub ++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1280 |
if (j->contact.surface.mu2 == dInfinity) nub ++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1281 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1282 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1283 |
if (j->contact.surface.mu > REAL(0.0)) m += 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1284 |
if (j->contact.surface.mu == dInfinity) nub += 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1285 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1286 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1287 |
j->the_m = m; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1288 |
info->m = m; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1289 |
info->nub = nub; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1290 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1291 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1292 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1293 |
static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1294 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1295 |
int s = info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1296 |
int s2 = 2*s; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1297 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1298 |
// get normal, with sign adjusted for body1/body2 polarity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1299 |
dVector3 normal; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1300 |
if (j->flags & dJOINT_REVERSE) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1301 |
normal[0] = - j->contact.geom.normal[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1302 |
normal[1] = - j->contact.geom.normal[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1303 |
normal[2] = - j->contact.geom.normal[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1304 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1305 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1306 |
normal[0] = j->contact.geom.normal[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1307 |
normal[1] = j->contact.geom.normal[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1308 |
normal[2] = j->contact.geom.normal[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1309 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1310 |
normal[3] = 0; // @@@ hmmm |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1311 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1312 |
// c1,c2 = contact points with respect to body PORs |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1313 |
dVector3 c1,c2 = {}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1314 |
c1[0] = j->contact.geom.pos[0] - j->node[0].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1315 |
c1[1] = j->contact.geom.pos[1] - j->node[0].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1316 |
c1[2] = j->contact.geom.pos[2] - j->node[0].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1317 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1318 |
// set jacobian for normal |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1319 |
info->J1l[0] = normal[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1320 |
info->J1l[1] = normal[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1321 |
info->J1l[2] = normal[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1322 |
dCROSS (info->J1a,=,c1,normal); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1323 |
if (j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1324 |
c2[0] = j->contact.geom.pos[0] - j->node[1].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1325 |
c2[1] = j->contact.geom.pos[1] - j->node[1].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1326 |
c2[2] = j->contact.geom.pos[2] - j->node[1].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1327 |
info->J2l[0] = -normal[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1328 |
info->J2l[1] = -normal[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1329 |
info->J2l[2] = -normal[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1330 |
dCROSS (info->J2a,= -,c2,normal); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1331 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1332 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1333 |
// set right hand side and cfm value for normal |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1334 |
dReal erp = info->erp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1335 |
if (j->contact.surface.mode & dContactSoftERP) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1336 |
erp = j->contact.surface.soft_erp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1337 |
dReal k = dMUL(info->fps,erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1338 |
dReal depth = j->contact.geom.depth - j->world->contactp.min_depth; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1339 |
if (depth < 0) depth = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1340 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1341 |
const dReal maxvel = j->world->contactp.max_vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1342 |
info->c[0] = dMUL(k,depth); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1343 |
if (info->c[0] > maxvel) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1344 |
info->c[0] = maxvel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1345 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1346 |
if (j->contact.surface.mode & dContactSoftCFM) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1347 |
info->cfm[0] = j->contact.surface.soft_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1348 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1349 |
// deal with bounce |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1350 |
if (j->contact.surface.mode & dContactBounce) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1351 |
// calculate outgoing velocity (-ve for incoming contact) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1352 |
dReal outgoing = dDOT(info->J1l,j->node[0].body->lvel) + |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1353 |
dDOT(info->J1a,j->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1354 |
if (j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1355 |
outgoing += dDOT(info->J2l,j->node[1].body->lvel) + |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1356 |
dDOT(info->J2a,j->node[1].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1357 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1358 |
// only apply bounce if the outgoing velocity is greater than the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1359 |
// threshold, and if the resulting c[0] exceeds what we already have. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1360 |
if (j->contact.surface.bounce_vel >= 0 && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1361 |
(-outgoing) > j->contact.surface.bounce_vel) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1362 |
dReal newc = - dMUL(j->contact.surface.bounce,outgoing); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1363 |
if (newc > info->c[0]) info->c[0] = newc; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1364 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1365 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1366 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1367 |
// set LCP limits for normal |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1368 |
info->lo[0] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1369 |
info->hi[0] = dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1370 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1371 |
// now do jacobian for tangential forces |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1372 |
dVector3 t1,t2; // two vectors tangential to normal |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1373 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1374 |
// first friction direction |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1375 |
if (j->the_m >= 2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1376 |
if (j->contact.surface.mode & dContactFDir1) { // use fdir1 ? |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1377 |
t1[0] = j->contact.fdir1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1378 |
t1[1] = j->contact.fdir1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1379 |
t1[2] = j->contact.fdir1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1380 |
dCROSS (t2,=,normal,t1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1381 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1382 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1383 |
dPlaneSpace (normal,t1,t2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1384 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1385 |
info->J1l[s+0] = t1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1386 |
info->J1l[s+1] = t1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1387 |
info->J1l[s+2] = t1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1388 |
dCROSS (info->J1a+s,=,c1,t1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1389 |
if (j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1390 |
info->J2l[s+0] = -t1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1391 |
info->J2l[s+1] = -t1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1392 |
info->J2l[s+2] = -t1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1393 |
dCROSS (info->J2a+s,= -,c2,t1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1394 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1395 |
// set right hand side |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1396 |
if (j->contact.surface.mode & dContactMotion1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1397 |
info->c[1] = j->contact.surface.motion1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1398 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1399 |
// set LCP bounds and friction index. this depends on the approximation |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1400 |
// mode |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1401 |
info->lo[1] = -j->contact.surface.mu; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1402 |
info->hi[1] = j->contact.surface.mu; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1403 |
if (j->contact.surface.mode & dContactApprox1_1) info->findex[1] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1404 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1405 |
// set slip (constraint force mixing) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1406 |
if (j->contact.surface.mode & dContactSlip1) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1407 |
info->cfm[1] = j->contact.surface.slip1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1408 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1409 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1410 |
// second friction direction |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1411 |
if (j->the_m >= 3) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1412 |
info->J1l[s2+0] = t2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1413 |
info->J1l[s2+1] = t2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1414 |
info->J1l[s2+2] = t2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1415 |
dCROSS (info->J1a+s2,=,c1,t2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1416 |
if (j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1417 |
info->J2l[s2+0] = -t2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1418 |
info->J2l[s2+1] = -t2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1419 |
info->J2l[s2+2] = -t2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1420 |
dCROSS (info->J2a+s2,= -,c2,t2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1421 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1422 |
// set right hand side |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1423 |
if (j->contact.surface.mode & dContactMotion2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1424 |
info->c[2] = j->contact.surface.motion2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1425 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1426 |
// set LCP bounds and friction index. this depends on the approximation |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1427 |
// mode |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1428 |
if (j->contact.surface.mode & dContactMu2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1429 |
info->lo[2] = -j->contact.surface.mu2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1430 |
info->hi[2] = j->contact.surface.mu2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1431 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1432 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1433 |
info->lo[2] = -j->contact.surface.mu; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1434 |
info->hi[2] = j->contact.surface.mu; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1435 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1436 |
if (j->contact.surface.mode & dContactApprox1_2) info->findex[2] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1437 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1438 |
// set slip (constraint force mixing) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1439 |
if (j->contact.surface.mode & dContactSlip2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1440 |
info->cfm[2] = j->contact.surface.slip2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1441 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1442 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1443 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1444 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1445 |
dxJoint::Vtable __dcontact_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1446 |
sizeof(dxJointContact), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1447 |
(dxJoint::init_fn*) contactInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1448 |
(dxJoint::getInfo1_fn*) contactGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1449 |
(dxJoint::getInfo2_fn*) contactGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1450 |
dJointTypeContact}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1451 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1452 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1453 |
// hinge 2. note that this joint must be attached to two bodies for it to work |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1454 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1455 |
static dReal measureHinge2Angle (dxJointHinge2 *joint) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1456 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1457 |
dVector3 a1,a2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1458 |
dMULTIPLY0_331 (a1,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1459 |
dMULTIPLY1_331 (a2,joint->node[0].body->posr.R,a1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1460 |
dReal x = dDOT(joint->v1,a2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1461 |
dReal y = dDOT(joint->v2,a2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1462 |
return -dArcTan2 (y,x); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1463 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1464 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1465 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1466 |
static void hinge2Init (dxJointHinge2 *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1467 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1468 |
dSetZero (j->anchor1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1469 |
dSetZero (j->anchor2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1470 |
dSetZero (j->axis1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1471 |
j->axis1[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1472 |
dSetZero (j->axis2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1473 |
j->axis2[1] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1474 |
j->c0 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1475 |
j->s0 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1476 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1477 |
dSetZero (j->v1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1478 |
j->v1[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1479 |
dSetZero (j->v2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1480 |
j->v2[1] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1481 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1482 |
j->limot1.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1483 |
j->limot2.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1484 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1485 |
j->susp_erp = j->world->global_erp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1486 |
j->susp_cfm = j->world->global_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1487 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1488 |
j->flags |= dJOINT_TWOBODIES; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1489 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1490 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1491 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1492 |
static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1493 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1494 |
info->m = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1495 |
info->nub = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1496 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1497 |
// see if we're powered or at a joint limit for axis 1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1498 |
int atlimit=0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1499 |
if ((j->limot1.lostop >= -dPI || j->limot1.histop <= dPI) && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1500 |
j->limot1.lostop <= j->limot1.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1501 |
dReal angle = measureHinge2Angle (j); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1502 |
if (j->limot1.testRotationalLimit (angle)) atlimit = 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1503 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1504 |
if (atlimit || j->limot1.fmax > 0) info->m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1505 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1506 |
// see if we're powering axis 2 (we currently never limit this axis) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1507 |
j->limot2.limit = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1508 |
if (j->limot2.fmax > 0) info->m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1509 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1510 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1511 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1512 |
// macro that computes ax1,ax2 = axis 1 and 2 in global coordinates (they are |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1513 |
// relative to body 1 and 2 initially) and then computes the constrained |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1514 |
// rotational axis as the cross product of ax1 and ax2. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1515 |
// the sin and cos of the angle between axis 1 and 2 is computed, this comes |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1516 |
// from dot and cross product rules. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1517 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1518 |
#define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1519 |
dVector3 ax1,ax2; \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1520 |
dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1521 |
dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2); \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1522 |
dCROSS (axis,=,ax1,ax2); \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1523 |
sin_angle = dSqrt (dMUL(axis[0],axis[0]) + dMUL(axis[1],axis[1]) + dMUL(axis[2],axis[2])); \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1524 |
cos_angle = dDOT (ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1525 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1526 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1527 |
static void hinge2GetInfo2 (dxJointHinge2 *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1528 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1529 |
// get information we need to set the hinge row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1530 |
dReal s,c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1531 |
dVector3 q; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1532 |
HINGE2_GET_AXIS_INFO (q,s,c); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1533 |
dNormalize3 (q); // @@@ quicker: divide q by s ? |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1534 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1535 |
// set the three ball-and-socket rows (aligned to the suspension axis ax1) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1536 |
setBall2 (joint,info,joint->anchor1,joint->anchor2,ax1,joint->susp_erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1537 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1538 |
// set the hinge row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1539 |
int s3=3*info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1540 |
info->J1a[s3+0] = q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1541 |
info->J1a[s3+1] = q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1542 |
info->J1a[s3+2] = q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1543 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1544 |
info->J2a[s3+0] = -q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1545 |
info->J2a[s3+1] = -q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1546 |
info->J2a[s3+2] = -q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1547 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1548 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1549 |
// compute the right hand side for the constrained rotational DOF. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1550 |
// axis 1 and axis 2 are separated by an angle `theta'. the desired |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1551 |
// separation angle is theta0. sin(theta0) and cos(theta0) are recorded |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1552 |
// in the joint structure. the correcting angular velocity is: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1553 |
// |angular_velocity| = angle/time = erp*(theta0-theta) / stepsize |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1554 |
// = (erp*fps) * (theta0-theta) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1555 |
// (theta0-theta) can be computed using the following small-angle-difference |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1556 |
// approximation: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1557 |
// theta0-theta ~= tan(theta0-theta) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1558 |
// = sin(theta0-theta)/cos(theta0-theta) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1559 |
// = (c*s0 - s*c0) / (c*c0 + s*s0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1560 |
// = c*s0 - s*c0 assuming c*c0 + s*s0 ~= 1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1561 |
// where c = cos(theta), s = sin(theta) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1562 |
// c0 = cos(theta0), s0 = sin(theta0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1563 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1564 |
dReal k = dMUL(info->fps,info->erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1565 |
info->c[3] = dMUL(k,(dMUL(joint->c0,s) - dMUL(joint->s0,c))); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1566 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1567 |
// if the axis1 hinge is powered, or has joint limits, add in more stuff |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1568 |
int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1569 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1570 |
// if the axis2 hinge is powered, add in more stuff |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1571 |
joint->limot2.addLimot (joint,info,row,ax2,1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1572 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1573 |
// set parameter for the suspension |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1574 |
info->cfm[0] = joint->susp_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1575 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1576 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1577 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1578 |
// compute vectors v1 and v2 (embedded in body1), used to measure angle |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1579 |
// between body 1 and body 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1580 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1581 |
static void makeHinge2V1andV2 (dxJointHinge2 *joint) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1582 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1583 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1584 |
// get axis 1 and 2 in global coords |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1585 |
dVector3 ax1,ax2,v; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1586 |
dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1587 |
dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1588 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1589 |
// don't do anything if the axis1 or axis2 vectors are zero or the same |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1590 |
if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0 || |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1591 |
(ax2[0]==0) && ax2[1]==0 && ax2[2]==0) || |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1592 |
(ax1[0]==ax2[0] && ax1[1]==ax2[1] && ax1[2]==ax2[2])) return; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1593 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1594 |
// modify axis 2 so it's perpendicular to axis 1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1595 |
dReal k = dDOT(ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1596 |
for (int i=0; i<3; i++) ax2[i] -= dMUL(k,ax1[i]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1597 |
dNormalize3 (ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1598 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1599 |
// make v1 = modified axis2, v2 = axis1 x (modified axis2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1600 |
dCROSS (v,=,ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1601 |
dMULTIPLY1_331 (joint->v1,joint->node[0].body->posr.R,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1602 |
dMULTIPLY1_331 (joint->v2,joint->node[0].body->posr.R,v); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1603 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1604 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1605 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1606 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1607 |
EXPORT_C void dJointSetHinge2Anchor (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1608 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1609 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1610 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1611 |
setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1612 |
makeHinge2V1andV2 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1613 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1614 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1615 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1616 |
EXPORT_C void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1617 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1618 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1619 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1620 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1621 |
dReal q[4]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1622 |
q[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1623 |
q[1] = y; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1624 |
q[2] = z; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1625 |
q[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1626 |
dNormalize3 (q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1627 |
dMULTIPLY1_331 (joint->axis1,joint->node[0].body->posr.R,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1628 |
joint->axis1[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1629 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1630 |
// compute the sin and cos of the angle between axis 1 and axis 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1631 |
dVector3 ax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1632 |
HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1633 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1634 |
makeHinge2V1andV2 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1635 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1636 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1637 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1638 |
EXPORT_C void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1639 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1640 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1641 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1642 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1643 |
dReal q[4]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1644 |
q[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1645 |
q[1] = y; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1646 |
q[2] = z; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1647 |
q[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1648 |
dNormalize3 (q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1649 |
dMULTIPLY1_331 (joint->axis2,joint->node[1].body->posr.R,q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1650 |
joint->axis1[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1651 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1652 |
// compute the sin and cos of the angle between axis 1 and axis 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1653 |
dVector3 ax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1654 |
HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1655 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1656 |
makeHinge2V1andV2 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1657 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1658 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1659 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1660 |
EXPORT_C void dJointSetHinge2Param (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1661 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1662 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1663 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1664 |
if ((parameter & 0xff00) == 0x100) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1665 |
joint->limot2.set (parameter & 0xff,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1666 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1667 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1668 |
if (parameter == dParamSuspensionERP) joint->susp_erp = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1669 |
else if (parameter == dParamSuspensionCFM) joint->susp_cfm = value; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1670 |
else joint->limot1.set (parameter,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1671 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1672 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1673 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1674 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1675 |
EXPORT_C void dJointGetHinge2Anchor (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1676 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1677 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1678 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1679 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1680 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1681 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1682 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1683 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1684 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1685 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1686 |
EXPORT_C void dJointGetHinge2Anchor2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1687 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1688 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1689 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1690 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1691 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1692 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1693 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1694 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1695 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1696 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1697 |
EXPORT_C void dJointGetHinge2Axis1 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1698 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1699 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1700 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1701 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1702 |
dMULTIPLY0_331 (result,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1703 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1704 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1705 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1706 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1707 |
EXPORT_C void dJointGetHinge2Axis2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1708 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1709 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1710 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1711 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1712 |
dMULTIPLY0_331 (result,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1713 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1714 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1715 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1716 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1717 |
EXPORT_C dReal dJointGetHinge2Param (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1718 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1719 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1720 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1721 |
if ((parameter & 0xff00) == 0x100) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1722 |
return joint->limot2.get (parameter & 0xff); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1723 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1724 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1725 |
if (parameter == dParamSuspensionERP) return joint->susp_erp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1726 |
else if (parameter == dParamSuspensionCFM) return joint->susp_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1727 |
else return joint->limot1.get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1728 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1729 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1730 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1731 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1732 |
EXPORT_C dReal dJointGetHinge2Angle1 (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1733 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1734 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1735 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1736 |
if (joint->node[0].body) return measureHinge2Angle (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1737 |
else return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1738 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1739 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1740 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1741 |
EXPORT_C dReal dJointGetHinge2Angle1Rate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1742 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1743 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1744 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1745 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1746 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1747 |
dMULTIPLY0_331 (axis,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1748 |
dReal rate = dDOT(axis,joint->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1749 |
if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1750 |
return rate; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1751 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1752 |
else return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1753 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1754 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1755 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1756 |
EXPORT_C dReal dJointGetHinge2Angle2Rate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1757 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1758 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1759 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1760 |
if (joint->node[0].body && joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1761 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1762 |
dMULTIPLY0_331 (axis,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1763 |
dReal rate = dDOT(axis,joint->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1764 |
if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1765 |
return rate; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1766 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1767 |
else return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1768 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1769 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1770 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1771 |
EXPORT_C void dJointAddHinge2Torques (dJointID j, dReal torque1, dReal torque2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1772 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1773 |
dxJointHinge2* joint = (dxJointHinge2*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1774 |
dVector3 axis1, axis2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1775 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1776 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1777 |
if (joint->node[0].body && joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1778 |
dMULTIPLY0_331 (axis1,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1779 |
dMULTIPLY0_331 (axis2,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1780 |
axis1[0] = dMUL(axis1[0],torque1) + dMUL(axis2[0],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1781 |
axis1[1] = dMUL(axis1[1],torque1) + dMUL(axis2[1],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1782 |
axis1[2] = dMUL(axis1[2],torque1) + dMUL(axis2[2],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1783 |
dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1784 |
dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1785 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1786 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1787 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1788 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1789 |
dxJoint::Vtable __dhinge2_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1790 |
sizeof(dxJointHinge2), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1791 |
(dxJoint::init_fn*) hinge2Init, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1792 |
(dxJoint::getInfo1_fn*) hinge2GetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1793 |
(dxJoint::getInfo2_fn*) hinge2GetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1794 |
dJointTypeHinge2}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1795 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1796 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1797 |
// universal |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1798 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1799 |
// I just realized that the universal joint is equivalent to a hinge 2 joint with |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1800 |
// perfectly stiff suspension. By comparing the hinge 2 implementation to |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1801 |
// the universal implementation, you may be able to improve this |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1802 |
// implementation (or, less likely, the hinge2 implementation). |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1803 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1804 |
static void universalInit (dxJointUniversal *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1805 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1806 |
dSetZero (j->anchor1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1807 |
dSetZero (j->anchor2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1808 |
dSetZero (j->axis1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1809 |
j->axis1[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1810 |
dSetZero (j->axis2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1811 |
j->axis2[1] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1812 |
dSetZero(j->qrel1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1813 |
dSetZero(j->qrel2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1814 |
j->limot1.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1815 |
j->limot2.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1816 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1817 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1818 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1819 |
static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1820 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1821 |
// This says "ax1 = joint->node[0].body->posr.R * joint->axis1" |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1822 |
dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1823 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1824 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1825 |
dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1826 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1827 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1828 |
ax2[0] = joint->axis2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1829 |
ax2[1] = joint->axis2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1830 |
ax2[2] = joint->axis2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1831 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1832 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1833 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1834 |
static void getUniversalAngles(dxJointUniversal *joint, dReal *angle1, dReal *angle2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1835 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1836 |
if (joint->node[0].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1837 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1838 |
// length 1 joint axis in global coordinates, from each body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1839 |
dVector3 ax1, ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1840 |
dMatrix3 R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1841 |
dQuaternion qcross, qq, qrel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1842 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1843 |
getUniversalAxes (joint,ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1844 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1845 |
// It should be possible to get both angles without explicitly |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1846 |
// constructing the rotation matrix of the cross. Basically, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1847 |
// orientation of the cross about axis1 comes from body 2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1848 |
// about axis 2 comes from body 1, and the perpendicular |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1849 |
// axis can come from the two bodies somehow. (We don't really |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1850 |
// want to assume it's 90 degrees, because in general the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1851 |
// constraints won't be perfectly satisfied, or even very well |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1852 |
// satisfied.) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1853 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1854 |
// However, we'd need a version of getHingeAngleFromRElativeQuat() |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1855 |
// that CAN handle when its relative quat is rotated along a direction |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1856 |
// other than the given axis. What I have here works, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1857 |
// although it's probably much slower than need be. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1858 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1859 |
dRFrom2Axes (R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1860 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1861 |
dRtoQ (R, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1862 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1863 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1864 |
// This code is essentialy the same as getHingeAngle(), see the comments |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1865 |
// there for details. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1866 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1867 |
// get qrel = relative rotation between node[0] and the cross |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1868 |
dQMultiply1 (qq, joint->node[0].body->q, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1869 |
dQMultiply2 (qrel, qq, joint->qrel1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1870 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1871 |
*angle1 = getHingeAngleFromRelativeQuat(qrel, joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1872 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1873 |
// This is equivalent to |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1874 |
// dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1875 |
// You see that the R is constructed from the same 2 axis as for angle1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1876 |
// but the first and second axis are swapped. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1877 |
// So we can take the first R and rapply a rotation to it. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1878 |
// The rotation is around the axis between the 2 axes (ax1 and ax2). |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1879 |
// We do a rotation of 180deg. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1880 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1881 |
dQuaternion qcross2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1882 |
// Find the vector between ax1 and ax2 (i.e. in the middle) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1883 |
// We need to turn around this vector by 180deg |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1884 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1885 |
// The 2 axes should be normalize so to find the vector between the 2. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1886 |
// Add and devide by 2 then normalize or simply normalize |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1887 |
// ax2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1888 |
// ^ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1889 |
// | |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1890 |
// | |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1891 |
/// *------------> ax1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1892 |
// We want the vector a 45deg |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1893 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1894 |
// N.B. We don't need to normalize the ax1 and ax2 since there are |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1895 |
// normalized when we set them. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1896 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1897 |
// We set the quaternion q = [cos(theta), dir*sin(theta)] = [w, x, y, Z] |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1898 |
qrel[0] = 0; // equivalent to cos(Pi/2) |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1899 |
qrel[1] = ax1[0] + ax2[0]; // equivalent to x*sin(Pi/2); since sin(Pi/2) = 1 |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1900 |
qrel[2] = ax1[1] + ax2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1901 |
qrel[3] = ax1[2] + ax2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1902 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1903 |
dReal l = dRecip(dSqrt(dMUL(qrel[1],qrel[1]) + dMUL(qrel[2],qrel[2]) + dMUL(qrel[3],qrel[3]))); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1904 |
qrel[1] = dMUL(qrel[1],l); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1905 |
qrel[2] = dMUL(qrel[2],l); |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1906 |
qrel[3] = dMUL(qrel[3],l); |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1907 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1908 |
dQMultiply0 (qcross2, qrel, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1909 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1910 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1911 |
dQMultiply1 (qq, joint->node[1].body->q, qcross2); |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1912 |
dQMultiply2 (qrel, qq, joint->qrel2); |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1913 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1914 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1915 |
// pretend joint->node[1].body->q is the identity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1916 |
dQMultiply2 (qrel, qcross2, joint->qrel2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1917 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1918 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1919 |
*angle2 = - getHingeAngleFromRelativeQuat(qrel, joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1920 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1921 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1922 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1923 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1924 |
*angle1 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1925 |
*angle2 = 0; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1926 |
} |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1927 |
} |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1928 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1929 |
static dReal getUniversalAngle1(dxJointUniversal *joint) |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1930 |
{ |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1931 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1932 |
// length 1 joint axis in global coordinates, from each body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1933 |
dVector3 ax1, ax2; |
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Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1934 |
dMatrix3 R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1935 |
dQuaternion qcross, qq, qrel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1936 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1937 |
getUniversalAxes (joint,ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1938 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1939 |
// It should be possible to get both angles without explicitly |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1940 |
// constructing the rotation matrix of the cross. Basically, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1941 |
// orientation of the cross about axis1 comes from body 2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1942 |
// about axis 2 comes from body 1, and the perpendicular |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1943 |
// axis can come from the two bodies somehow. (We don't really |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1944 |
// want to assume it's 90 degrees, because in general the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1945 |
// constraints won't be perfectly satisfied, or even very well |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1946 |
// satisfied.) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1947 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1948 |
// However, we'd need a version of getHingeAngleFromRElativeQuat() |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1949 |
// that CAN handle when its relative quat is rotated along a direction |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1950 |
// other than the given axis. What I have here works, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1951 |
// although it's probably much slower than need be. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1952 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1953 |
dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1954 |
dRtoQ (R,qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1955 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1956 |
// This code is essential the same as getHingeAngle(), see the comments |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1957 |
// there for details. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1958 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1959 |
// get qrel = relative rotation between node[0] and the cross |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1960 |
dQMultiply1 (qq,joint->node[0].body->q,qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1961 |
dQMultiply2 (qrel,qq,joint->qrel1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1962 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1963 |
return getHingeAngleFromRelativeQuat(qrel, joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1964 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1965 |
return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1966 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1967 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1968 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1969 |
static dReal getUniversalAngle2(dxJointUniversal *joint) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1970 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1971 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1972 |
// length 1 joint axis in global coordinates, from each body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1973 |
dVector3 ax1, ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1974 |
dMatrix3 R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1975 |
dQuaternion qcross, qq, qrel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1976 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1977 |
getUniversalAxes (joint,ax1,ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1978 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1979 |
// It should be possible to get both angles without explicitly |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1980 |
// constructing the rotation matrix of the cross. Basically, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1981 |
// orientation of the cross about axis1 comes from body 2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1982 |
// about axis 2 comes from body 1, and the perpendicular |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1983 |
// axis can come from the two bodies somehow. (We don't really |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1984 |
// want to assume it's 90 degrees, because in general the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1985 |
// constraints won't be perfectly satisfied, or even very well |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1986 |
// satisfied.) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1987 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1988 |
// However, we'd need a version of getHingeAngleFromRElativeQuat() |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1989 |
// that CAN handle when its relative quat is rotated along a direction |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1990 |
// other than the given axis. What I have here works, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1991 |
// although it's probably much slower than need be. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1992 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1993 |
dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1994 |
dRtoQ(R, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1995 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1996 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1997 |
dQMultiply1 (qq, joint->node[1].body->q, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1998 |
dQMultiply2 (qrel,qq,joint->qrel2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
1999 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2000 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2001 |
// pretend joint->node[1].body->q is the identity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2002 |
dQMultiply2 (qrel,qcross, joint->qrel2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2003 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2004 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2005 |
return - getHingeAngleFromRelativeQuat(qrel, joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2006 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2007 |
return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2008 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2009 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2010 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2011 |
static void universalGetInfo1 (dxJointUniversal *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2012 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2013 |
info->nub = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2014 |
info->m = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2015 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2016 |
// see if we're powered or at a joint limit. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2017 |
bool constraint1 = j->limot1.fmax > 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2018 |
bool constraint2 = j->limot2.fmax > 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2019 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2020 |
bool limiting1 = (j->limot1.lostop >= -dPI || j->limot1.histop <= dPI) && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2021 |
j->limot1.lostop <= j->limot1.histop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2022 |
bool limiting2 = (j->limot2.lostop >= -dPI || j->limot2.histop <= dPI) && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2023 |
j->limot2.lostop <= j->limot2.histop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2024 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2025 |
// We need to call testRotationLimit() even if we're motored, since it |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2026 |
// records the result. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2027 |
if (limiting1 || limiting2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2028 |
dReal angle1, angle2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2029 |
getUniversalAngles (j, &angle1, &angle2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2030 |
if (limiting1 && j->limot1.testRotationalLimit (angle1)) constraint1 = true; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2031 |
if (limiting2 && j->limot2.testRotationalLimit (angle2)) constraint2 = true; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2032 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2033 |
if (constraint1) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2034 |
info->m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2035 |
if (constraint2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2036 |
info->m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2037 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2038 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2039 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2040 |
static void universalGetInfo2 (dxJointUniversal *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2041 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2042 |
// set the three ball-and-socket rows |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2043 |
setBall (joint,info,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2044 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2045 |
// set the universal joint row. the angular velocity about an axis |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2046 |
// perpendicular to both joint axes should be equal. thus the constraint |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2047 |
// equation is |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2048 |
// p*w1 - p*w2 = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2049 |
// where p is a vector normal to both joint axes, and w1 and w2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2050 |
// are the angular velocity vectors of the two bodies. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2051 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2052 |
// length 1 joint axis in global coordinates, from each body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2053 |
dVector3 ax1, ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2054 |
dVector3 ax2_temp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2055 |
// length 1 vector perpendicular to ax1 and ax2. Neither body can rotate |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2056 |
// about this. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2057 |
dVector3 p; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2058 |
dReal k; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2059 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2060 |
getUniversalAxes(joint, ax1, ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2061 |
k = dDOT(ax1, ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2062 |
ax2_temp[0] = ax2[0] - dMUL(k,ax1[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2063 |
ax2_temp[1] = ax2[1] - dMUL(k,ax1[1]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2064 |
ax2_temp[2] = ax2[2] - dMUL(k,ax1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2065 |
dCROSS(p, =, ax1, ax2_temp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2066 |
dNormalize3(p); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2067 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2068 |
int s3=3*info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2069 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2070 |
info->J1a[s3+0] = p[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2071 |
info->J1a[s3+1] = p[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2072 |
info->J1a[s3+2] = p[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2073 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2074 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2075 |
info->J2a[s3+0] = -p[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2076 |
info->J2a[s3+1] = -p[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2077 |
info->J2a[s3+2] = -p[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2078 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2079 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2080 |
// compute the right hand side of the constraint equation. set relative |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2081 |
// body velocities along p to bring the axes back to perpendicular. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2082 |
// If ax1, ax2 are unit length joint axes as computed from body1 and |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2083 |
// body2, we need to rotate both bodies along the axis p. If theta |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2084 |
// is the angle between ax1 and ax2, we need an angular velocity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2085 |
// along p to cover the angle erp * (theta - Pi/2) in one step: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2086 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2087 |
// |angular_velocity| = angle/time = erp*(theta - Pi/2) / stepsize |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2088 |
// = (erp*fps) * (theta - Pi/2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2089 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2090 |
// if theta is close to Pi/2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2091 |
// theta - Pi/2 ~= cos(theta), so |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2092 |
// |angular_velocity| ~= (erp*fps) * (ax1 dot ax2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2093 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2094 |
info->c[3] = dMUL(info->fps,dMUL(info->erp,- dDOT(ax1, ax2))); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2095 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2096 |
// if the first angle is powered, or has joint limits, add in the stuff |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2097 |
int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2098 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2099 |
// if the second angle is powered, or has joint limits, add in more stuff |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2100 |
joint->limot2.addLimot (joint,info,row,ax2,1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2101 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2102 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2103 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2104 |
static void universalComputeInitialRelativeRotations (dxJointUniversal *joint) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2105 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2106 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2107 |
dVector3 ax1, ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2108 |
dMatrix3 R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2109 |
dQuaternion qcross; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2110 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2111 |
getUniversalAxes(joint, ax1, ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2112 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2113 |
// Axis 1. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2114 |
dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2115 |
dRtoQ(R, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2116 |
dQMultiply1 (joint->qrel1, joint->node[0].body->q, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2117 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2118 |
// Axis 2. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2119 |
dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2120 |
dRtoQ(R, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2121 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2122 |
dQMultiply1 (joint->qrel2, joint->node[1].body->q, qcross); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2123 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2124 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2125 |
// set joint->qrel to qcross |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2126 |
for (int i=0; i<4; i++) joint->qrel2[i] = qcross[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2127 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2128 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2129 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2130 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2131 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2132 |
EXPORT_C void dJointSetUniversalAnchor (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2133 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2134 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2135 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2136 |
setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2137 |
universalComputeInitialRelativeRotations(joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2138 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2139 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2140 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2141 |
EXPORT_C void dJointSetUniversalAxis1 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2142 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2143 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2144 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2145 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2146 |
setAxes (joint,x,y,z,NULL,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2147 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2148 |
setAxes (joint,x,y,z,joint->axis1,NULL); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2149 |
universalComputeInitialRelativeRotations(joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2150 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2151 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2152 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2153 |
EXPORT_C void dJointSetUniversalAxis2 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2154 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2155 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2156 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2157 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2158 |
setAxes (joint,x,y,z,joint->axis1,NULL); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2159 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2160 |
setAxes (joint,x,y,z,NULL,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2161 |
universalComputeInitialRelativeRotations(joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2162 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2163 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2164 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2165 |
EXPORT_C void dJointGetUniversalAnchor (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2166 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2167 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2168 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2169 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2170 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2171 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2172 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2173 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2174 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2175 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2176 |
EXPORT_C void dJointGetUniversalAnchor2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2177 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2178 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2179 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2180 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2181 |
getAnchor (joint,result,joint->anchor1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2182 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2183 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2184 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2185 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2186 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2187 |
EXPORT_C void dJointGetUniversalAxis1 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2188 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2189 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2190 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2191 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2192 |
getAxis2 (joint,result,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2193 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2194 |
getAxis (joint,result,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2195 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2196 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2197 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2198 |
EXPORT_C void dJointGetUniversalAxis2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2199 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2200 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2201 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2202 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2203 |
getAxis (joint,result,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2204 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2205 |
getAxis2 (joint,result,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2206 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2207 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2208 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2209 |
EXPORT_C void dJointSetUniversalParam (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2210 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2211 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2212 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2213 |
if ((parameter & 0xff00) == 0x100) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2214 |
joint->limot2.set (parameter & 0xff,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2215 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2216 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2217 |
joint->limot1.set (parameter,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2218 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2219 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2220 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2221 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2222 |
EXPORT_C dReal dJointGetUniversalParam (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2223 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2224 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2225 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2226 |
if ((parameter & 0xff00) == 0x100) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2227 |
return joint->limot2.get (parameter & 0xff); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2228 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2229 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2230 |
return joint->limot1.get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2231 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2232 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2233 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2234 |
EXPORT_C void dJointGetUniversalAngles (dJointID j, dReal *angle1, dReal *angle2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2235 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2236 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2237 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2238 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2239 |
return getUniversalAngles (joint, angle2, angle1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2240 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2241 |
return getUniversalAngles (joint, angle1, angle2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2242 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2243 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2244 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2245 |
EXPORT_C dReal dJointGetUniversalAngle1 (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2246 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2247 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2248 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2249 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2250 |
return getUniversalAngle2 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2251 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2252 |
return getUniversalAngle1 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2253 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2254 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2255 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2256 |
EXPORT_C dReal dJointGetUniversalAngle2 (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2257 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2258 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2259 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2260 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2261 |
return getUniversalAngle1 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2262 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2263 |
return getUniversalAngle2 (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2264 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2265 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2266 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2267 |
EXPORT_C dReal dJointGetUniversalAngle1Rate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2268 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2269 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2270 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2271 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2272 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2273 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2274 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2275 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2276 |
getAxis2 (joint,axis,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2277 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2278 |
getAxis (joint,axis,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2279 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2280 |
dReal rate = dDOT(axis, joint->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2281 |
if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2282 |
return rate; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2283 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2284 |
return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2285 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2286 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2287 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2288 |
EXPORT_C dReal dJointGetUniversalAngle2Rate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2289 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2290 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2291 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2292 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2293 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2294 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2295 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2296 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2297 |
getAxis (joint,axis,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2298 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2299 |
getAxis2 (joint,axis,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2300 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2301 |
dReal rate = dDOT(axis, joint->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2302 |
if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2303 |
return rate; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2304 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2305 |
return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2306 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2307 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2308 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2309 |
EXPORT_C void dJointAddUniversalTorques (dJointID j, dReal torque1, dReal torque2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2310 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2311 |
dxJointUniversal* joint = (dxJointUniversal*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2312 |
dVector3 axis1, axis2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2313 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2314 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2315 |
if (joint->flags & dJOINT_REVERSE) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2316 |
dReal temp = torque1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2317 |
torque1 = - torque2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2318 |
torque2 = - temp; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2319 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2320 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2321 |
getAxis (joint,axis1,joint->axis1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2322 |
getAxis2 (joint,axis2,joint->axis2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2323 |
axis1[0] = dMUL(axis1[0],torque1) + dMUL(axis2[0],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2324 |
axis1[1] = dMUL(axis1[1],torque1) + dMUL(axis2[1],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2325 |
axis1[2] = dMUL(axis1[2],torque1) + dMUL(axis2[2],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2326 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2327 |
if (joint->node[0].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2328 |
dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2329 |
if (joint->node[1].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2330 |
dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2331 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2332 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2333 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2334 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2335 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2336 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2337 |
dxJoint::Vtable __duniversal_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2338 |
sizeof(dxJointUniversal), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2339 |
(dxJoint::init_fn*) universalInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2340 |
(dxJoint::getInfo1_fn*) universalGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2341 |
(dxJoint::getInfo2_fn*) universalGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2342 |
dJointTypeUniversal}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2343 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2344 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2345 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2346 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2347 |
// Prismatic and Rotoide |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2348 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2349 |
static void PRInit (dxJointPR *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2350 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2351 |
// Default Position |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2352 |
// Z^ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2353 |
// | Body 1 P R Body2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2354 |
// |+---------+ _ _ +-----------+ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2355 |
// || |----|----(_)--------+ | |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2356 |
// |+---------+ - +-----------+ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2357 |
// | |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2358 |
// X.-----------------------------------------> Y |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2359 |
// N.B. X is comming out of the page |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2360 |
dSetZero (j->anchor2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2361 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2362 |
dSetZero (j->axisR1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2363 |
j->axisR1[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2364 |
dSetZero (j->axisR2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2365 |
j->axisR2[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2366 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2367 |
dSetZero (j->axisP1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2368 |
j->axisP1[1] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2369 |
dSetZero (j->qrel,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2370 |
dSetZero (j->offset,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2371 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2372 |
j->limotR.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2373 |
j->limotP.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2374 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2375 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2376 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2377 |
EXPORT_C dReal dJointGetPRPosition (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2378 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2379 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2380 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2381 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2382 |
dVector3 q; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2383 |
// get the offset in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2384 |
dMULTIPLY0_331 (q,joint->node[0].body->posr.R,joint->offset); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2385 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2386 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2387 |
dVector3 anchor2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2388 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2389 |
// get the anchor2 in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2390 |
dMULTIPLY0_331 (anchor2,joint->node[1].body->posr.R,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2391 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2392 |
q[0] = ( (joint->node[0].body->posr.pos[0] + q[0]) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2393 |
(joint->node[1].body->posr.pos[0] + anchor2[0]) ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2394 |
q[1] = ( (joint->node[0].body->posr.pos[1] + q[1]) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2395 |
(joint->node[1].body->posr.pos[1] + anchor2[1]) ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2396 |
q[2] = ( (joint->node[0].body->posr.pos[2] + q[2]) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2397 |
(joint->node[1].body->posr.pos[2] + anchor2[2]) ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2398 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2399 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2400 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2401 |
//N.B. When there is no body 2 the joint->anchor2 is already in |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2402 |
// global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2403 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2404 |
q[0] = ( (joint->node[0].body->posr.pos[0] + q[0]) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2405 |
(joint->anchor2[0]) ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2406 |
q[1] = ( (joint->node[0].body->posr.pos[1] + q[1]) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2407 |
(joint->anchor2[1]) ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2408 |
q[2] = ( (joint->node[0].body->posr.pos[2] + q[2]) - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2409 |
(joint->anchor2[2]) ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2410 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2411 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2412 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2413 |
dVector3 axP; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2414 |
// get prismatic axis in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2415 |
dMULTIPLY0_331 (axP,joint->node[0].body->posr.R,joint->axisP1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2416 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2417 |
return dDOT(axP, q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2418 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2419 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2420 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2421 |
EXPORT_C dReal dJointGetPRPositionRate (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2422 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2423 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2424 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2425 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2426 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2427 |
// We want to find the rate of change of the prismatic part of the joint |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2428 |
// We can find it by looking at the speed difference between body1 and the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2429 |
// anchor point. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2430 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2431 |
// r will be used to find the distance between body1 and the anchor point |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2432 |
dVector3 r; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2433 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2434 |
// Find joint->anchor2 in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2435 |
dVector3 anchor2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2436 |
dMULTIPLY0_331 (anchor2,joint->node[1].body->posr.R,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2437 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2438 |
r[0] = joint->node[0].body->posr.pos[0] - anchor2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2439 |
r[1] = joint->node[0].body->posr.pos[1] - anchor2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2440 |
r[2] = joint->node[0].body->posr.pos[2] - anchor2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2441 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2442 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2443 |
//N.B. When there is no body 2 the joint->anchor2 is already in |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2444 |
// global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2445 |
r[0] = joint->node[0].body->posr.pos[0] - joint->anchor2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2446 |
r[1] = joint->node[0].body->posr.pos[1] - joint->anchor2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2447 |
r[2] = joint->node[0].body->posr.pos[2] - joint->anchor2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2448 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2449 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2450 |
// The body1 can have velocity coming from the rotation of |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2451 |
// the rotoide axis. We need to remove this. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2452 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2453 |
// Take only the angular rotation coming from the rotation |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2454 |
// of the rotoide articulation |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2455 |
// N.B. Body1 and Body2 should have the same rotation along axis |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2456 |
// other than the rotoide axis. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2457 |
dVector3 angular; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2458 |
dMULTIPLY0_331 (angular,joint->node[0].body->posr.R,joint->axisR1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2459 |
dReal omega = dDOT(angular, joint->node[0].body->avel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2460 |
angular[0] = dMUL(angular[0],omega); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2461 |
angular[1] = dMUL(angular[1],omega); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2462 |
angular[2] = dMUL(angular[2],omega); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2463 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2464 |
// Find the contribution of the angular rotation to the linear speed |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2465 |
// N.B. We do vel = r X w instead of vel = w x r to have vel negative |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2466 |
// since we want to remove it from the linear velocity of the body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2467 |
dVector3 lvel1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2468 |
dCROSS(lvel1, =, r, angular); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2469 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2470 |
lvel1[0] += joint->node[0].body->lvel[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2471 |
lvel1[1] += joint->node[0].body->lvel[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2472 |
lvel1[2] += joint->node[0].body->lvel[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2473 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2474 |
// Since we want rate of change along the prismatic axis |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2475 |
// get axisP1 in global coordinates and get the component |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2476 |
// along this axis only |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2477 |
dVector3 axP1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2478 |
dMULTIPLY0_331 (axP1,joint->node[0].body->posr.R,joint->axisP1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2479 |
return dDOT(axP1, lvel1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2480 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2481 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2482 |
return REAL(0.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2483 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2484 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2485 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2486 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2487 |
static void PRGetInfo1 (dxJointPR *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2488 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2489 |
info->m = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2490 |
info->nub = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2491 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2492 |
bool added = false; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2493 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2494 |
added = false; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2495 |
// see if the prismatic articulation is powered |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2496 |
if (j->limotP.fmax > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2497 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2498 |
added = true; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2499 |
(info->m)++; // powered needs an extra constraint row |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2500 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2501 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2502 |
// see if we're at a joint limit. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2503 |
j->limotP.limit = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2504 |
if ((j->limotP.lostop > -dInfinity || j->limotP.histop < dInfinity) && |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2505 |
j->limotP.lostop <= j->limotP.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2506 |
// measure joint position |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2507 |
dReal pos = dJointGetPRPosition (j); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2508 |
if (pos <= j->limotP.lostop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2509 |
j->limotP.limit = 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2510 |
j->limotP.limit_err = pos - j->limotP.lostop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2511 |
if (!added) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2512 |
(info->m)++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2513 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2514 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2515 |
if (pos >= j->limotP.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2516 |
j->limotP.limit = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2517 |
j->limotP.limit_err = pos - j->limotP.histop; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2518 |
if (!added) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2519 |
(info->m)++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2520 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2521 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2522 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2523 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2524 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2525 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2526 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2527 |
static void PRGetInfo2 (dxJointPR *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2528 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2529 |
int s = info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2530 |
int s2= 2*s; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2531 |
int s3= 3*s; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2532 |
int s4= 4*s; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2533 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2534 |
dReal k = dMUL(info->fps,info->erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2535 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2536 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2537 |
dVector3 q; // plane space of axP and after that axR |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2538 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2539 |
// pull out pos and R for both bodies. also get the `connection' |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2540 |
// vector pos2-pos1. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2541 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2542 |
dReal *pos1,*pos2 = 0,*R1,*R2 = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2543 |
pos1 = joint->node[0].body->posr.pos; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2544 |
R1 = joint->node[0].body->posr.R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2545 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2546 |
pos2 = joint->node[1].body->posr.pos; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2547 |
R2 = joint->node[1].body->posr.R; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2548 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2549 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2550 |
// pos2 = 0; // N.B. We can do that to be safe but it is no necessary |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2551 |
// R2 = 0; // N.B. We can do that to be safe but it is no necessary |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2552 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2553 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2554 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2555 |
dVector3 axP; // Axis of the prismatic joint in global frame |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2556 |
dMULTIPLY0_331 (axP, R1, joint->axisP1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2557 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2558 |
// distance between the body1 and the anchor2 in global frame |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2559 |
// Calculated in the same way as the offset |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2560 |
dVector3 dist; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2561 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2562 |
if (joint->node[1].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2563 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2564 |
dMULTIPLY0_331 (dist, R2, joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2565 |
dist[0] += pos2[0] - pos1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2566 |
dist[1] += pos2[1] - pos1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2567 |
dist[2] += pos2[2] - pos1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2568 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2569 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2570 |
dist[0] = joint->anchor2[0] - pos1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2571 |
dist[1] = joint->anchor2[1] - pos1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2572 |
dist[2] = joint->anchor2[2] - pos1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2573 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2574 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2575 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2576 |
// ====================================================================== |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2577 |
// Work on the Rotoide part (i.e. row 0, 1 and maybe 4 if rotoide powered |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2578 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2579 |
// Set the two rotoide rows. The rotoide axis should be the only unconstrained |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2580 |
// rotational axis, the angular velocity of the two bodies perpendicular to |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2581 |
// the rotoide axis should be equal. Thus the constraint equations are |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2582 |
// p*w1 - p*w2 = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2583 |
// q*w1 - q*w2 = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2584 |
// where p and q are unit vectors normal to the rotoide axis, and w1 and w2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2585 |
// are the angular velocity vectors of the two bodies. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2586 |
dVector3 ax1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2587 |
dMULTIPLY0_331 (ax1, joint->node[0].body->posr.R, joint->axisR1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2588 |
dCROSS(q , =, ax1, axP); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2589 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2590 |
info->J1a[0] = axP[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2591 |
info->J1a[1] = axP[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2592 |
info->J1a[2] = axP[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2593 |
info->J1a[s+0] = q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2594 |
info->J1a[s+1] = q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2595 |
info->J1a[s+2] = q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2596 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2597 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2598 |
info->J2a[0] = -axP[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2599 |
info->J2a[1] = -axP[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2600 |
info->J2a[2] = -axP[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2601 |
info->J2a[s+0] = -q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2602 |
info->J2a[s+1] = -q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2603 |
info->J2a[s+2] = -q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2604 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2605 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2606 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2607 |
// Compute the right hand side of the constraint equation set. Relative |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2608 |
// body velocities along p and q to bring the rotoide back into alignment. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2609 |
// ax1,ax2 are the unit length rotoide axes of body1 and body2 in world frame. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2610 |
// We need to rotate both bodies along the axis u = (ax1 x ax2). |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2611 |
// if `theta' is the angle between ax1 and ax2, we need an angular velocity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2612 |
// along u to cover angle erp*theta in one step : |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2613 |
// |angular_velocity| = angle/time = erp*theta / stepsize |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2614 |
// = (erp*fps) * theta |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2615 |
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2616 |
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2617 |
// ...as ax1 and ax2 are unit length. if theta is smallish, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2618 |
// theta ~= sin(theta), so |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2619 |
// angular_velocity = (erp*fps) * (ax1 x ax2) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2620 |
// ax1 x ax2 is in the plane space of ax1, so we project the angular |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2621 |
// velocity to p and q to find the right hand side. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2622 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2623 |
dVector3 ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2624 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2625 |
dMULTIPLY0_331 (ax2, R2, joint->axisR2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2626 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2627 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2628 |
ax2[0] = joint->axisR2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2629 |
ax2[1] = joint->axisR2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2630 |
ax2[2] = joint->axisR2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2631 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2632 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2633 |
dVector3 b; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2634 |
dCROSS (b,=,ax1, ax2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2635 |
info->c[0] = dMUL(k,dDOT(b, axP)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2636 |
info->c[1] = dMUL(k,dDOT(b, q)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2637 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2638 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2639 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2640 |
// ========================== |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2641 |
// Work on the Prismatic part (i.e row 2,3 and 4 if only the prismatic is powered |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2642 |
// or 5 if rotoide and prismatic powered |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2643 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2644 |
// two rows. we want: vel2 = vel1 + w1 x c ... but this would |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2645 |
// result in three equations, so we project along the planespace vectors |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2646 |
// so that sliding along the prismatic axis is disregarded. for symmetry we |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2647 |
// also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2648 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2649 |
// p1 + R1 dist' = p2 + R2 anchor2' ## OLD ## p1 + R1 anchor1' = p2 + R2 dist' |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2650 |
// v1 + w1 x R1 dist' + v_p = v2 + w2 x R2 anchor2'## OLD v1 + w1 x R1 anchor1' = v2 + w2 x R2 dist' + v_p |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2651 |
// v_p is speed of prismatic joint (i.e. elongation rate) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2652 |
// Since the constraints are perpendicular to v_p we have: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2653 |
// p dot v_p = 0 and q dot v_p = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2654 |
// ax1 dot ( v1 + w1 x dist = v2 + w2 x anchor2 ) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2655 |
// q dot ( v1 + w1 x dist = v2 + w2 x anchor2 ) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2656 |
// == |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2657 |
// ax1 . v1 + ax1 . w1 x dist = ax1 . v2 + ax1 . w2 x anchor2 ## OLD ## ax1 . v1 + ax1 . w1 x anchor1 = ax1 . v2 + ax1 . w2 x dist |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2658 |
// since a . (b x c) = - b . (a x c) = - (a x c) . b |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2659 |
// and a x b = - b x a |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2660 |
// ax1 . v1 - ax1 x dist . w1 - ax1 . v2 - (- ax1 x anchor2 . w2) = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2661 |
// ax1 . v1 + dist x ax1 . w1 - ax1 . v2 - anchor2 x ax1 . w2 = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2662 |
// Coeff for 1er line of: J1l => ax1, J2l => -ax1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2663 |
// Coeff for 2er line of: J1l => q, J2l => -q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2664 |
// Coeff for 1er line of: J1a => dist x ax1, J2a => - anchor2 x ax1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2665 |
// Coeff for 2er line of: J1a => dist x q, J2a => - anchor2 x q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2666 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2667 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2668 |
dCROSS ((info->J1a)+s2, = , dist, ax1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2669 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2670 |
dCROSS ((info->J1a)+s3, = , dist, q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2671 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2672 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2673 |
info->J1l[s2+0] = ax1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2674 |
info->J1l[s2+1] = ax1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2675 |
info->J1l[s2+2] = ax1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2676 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2677 |
info->J1l[s3+0] = q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2678 |
info->J1l[s3+1] = q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2679 |
info->J1l[s3+2] = q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2680 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2681 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2682 |
dVector3 anchor2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2683 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2684 |
// Calculate anchor2 in world coordinate |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2685 |
dMULTIPLY0_331 (anchor2, R2, joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2686 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2687 |
// ax2 x anchor2 instead of anchor2 x ax2 since we want the negative value |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2688 |
dCROSS ((info->J2a)+s2, = , ax2, anchor2); // since ax1 == ax2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2689 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2690 |
// The cross product is in reverse order since we want the negative value |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2691 |
dCROSS ((info->J2a)+s3, = , q, anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2692 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2693 |
info->J2l[s2+0] = -ax1[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2694 |
info->J2l[s2+1] = -ax1[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2695 |
info->J2l[s2+2] = -ax1[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2696 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2697 |
info->J2l[s3+0] = -q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2698 |
info->J2l[s3+1] = -q[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2699 |
info->J2l[s3+2] = -q[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2700 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2701 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2702 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2703 |
// We want to make correction for motion not in the line of the axisP |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2704 |
// We calculate the displacement w.r.t. the anchor pt. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2705 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2706 |
// compute the elements 2 and 3 of right hand side. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2707 |
// we want to align the offset point (in body 2's frame) with the center of body 1. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2708 |
// The position should be the same when we are not along the prismatic axis |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2709 |
dVector3 err; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2710 |
dMULTIPLY0_331 (err, R1, joint->offset); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2711 |
err[0] += dist[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2712 |
err[1] += dist[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2713 |
err[2] += dist[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2714 |
info->c[2] = dMUL(k,dDOT(ax1, err)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2715 |
info->c[3] = dMUL(k,dDOT(q, err)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2716 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2717 |
// Here we can't use addLimot because of some assumption in the function |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2718 |
int powered = joint->limotP.fmax > 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2719 |
if (powered || joint->limotP.limit) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2720 |
info->J1l[s4+0] = axP[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2721 |
info->J1l[s4+1] = axP[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2722 |
info->J1l[s4+2] = axP[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2723 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2724 |
info->J2l[s4+0] = -axP[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2725 |
info->J2l[s4+1] = -axP[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2726 |
info->J2l[s4+2] = -axP[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2727 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2728 |
// linear limot torque decoupling step: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2729 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2730 |
// if this is a linear limot (e.g. from a slider), we have to be careful |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2731 |
// that the linear constraint forces (+/- ax1) applied to the two bodies |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2732 |
// do not create a torque couple. in other words, the points that the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2733 |
// constraint force is applied at must lie along the same ax1 axis. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2734 |
// a torque couple will result in powered or limited slider-jointed free |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2735 |
// bodies from gaining angular momentum. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2736 |
// the solution used here is to apply the constraint forces at the point |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2737 |
// halfway between the body centers. there is no penalty (other than an |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2738 |
// extra tiny bit of computation) in doing this adjustment. note that we |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2739 |
// only need to do this if the constraint connects two bodies. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2740 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2741 |
dVector3 ltd = {}; // Linear Torque Decoupling vector (a torque) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2742 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2743 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2744 |
c[0]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[0]-joint->node[0].body->posr.pos[0])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2745 |
c[1]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2746 |
c[2]=dMUL(REAL(0.5),(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.pos[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2747 |
dReal val = dDOT(q, c); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2748 |
c[0] -= dMUL(val,c[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2749 |
c[1] -= dMUL(val,c[1]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2750 |
c[2] -= dMUL(val,c[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2751 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2752 |
dCROSS (ltd,=,c,axP); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2753 |
info->J1a[s4+0] = ltd[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2754 |
info->J1a[s4+1] = ltd[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2755 |
info->J1a[s4+2] = ltd[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2756 |
info->J2a[s4+0] = ltd[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2757 |
info->J2a[s4+1] = ltd[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2758 |
info->J2a[s4+2] = ltd[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2759 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2760 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2761 |
// if we're limited low and high simultaneously, the joint motor is |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2762 |
// ineffective |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2763 |
if (joint->limotP.limit && (joint->limotP.lostop == joint->limotP.histop)) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2764 |
powered = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2765 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2766 |
int row = 4; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2767 |
if (powered) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2768 |
info->cfm[row] = joint->limotP.normal_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2769 |
if (!joint->limotP.limit) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2770 |
info->c[row] = joint->limotP.vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2771 |
info->lo[row] = -joint->limotP.fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2772 |
info->hi[row] = joint->limotP.fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2773 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2774 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2775 |
// the joint is at a limit, AND is being powered. if the joint is |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2776 |
// being powered into the limit then we apply the maximum motor force |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2777 |
// in that direction, because the motor is working against the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2778 |
// immovable limit. if the joint is being powered away from the limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2779 |
// then we have problems because actually we need *two* lcp |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2780 |
// constraints to handle this case. so we fake it and apply some |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2781 |
// fraction of the maximum force. the fraction to use can be set as |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2782 |
// a fudge factor. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2783 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2784 |
dReal fm = joint->limotP.fmax; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2785 |
dReal vel = joint->limotP.vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2786 |
int limit = joint->limotP.limit; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2787 |
if ((vel > 0) || (vel==0 && limit==2)) fm = -fm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2788 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2789 |
// if we're powering away from the limit, apply the fudge factor |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2790 |
if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2791 |
fm = dMUL(fm,joint->limotP.fudge_factor); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2792 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2793 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2794 |
dBodyAddForce (joint->node[0].body,-dMUL(fm,axP[0]),-dMUL(fm,axP[1]),-dMUL(fm,axP[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2795 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2796 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2797 |
dBodyAddForce (joint->node[1].body,dMUL(fm,axP[0]),dMUL(fm,axP[1]),dMUL(fm,axP[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2798 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2799 |
// linear limot torque decoupling step: refer to above discussion |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2800 |
dBodyAddTorque (joint->node[0].body,-dMUL(fm,ltd[0]),-dMUL(fm,ltd[1]), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2801 |
-dMUL(fm,ltd[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2802 |
dBodyAddTorque (joint->node[1].body,-dMUL(fm,ltd[0]),-dMUL(fm,ltd[1]), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2803 |
-dMUL(fm,ltd[2])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2804 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2805 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2806 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2807 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2808 |
if (joint->limotP.limit) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2809 |
dReal k = dMUL(info->fps,joint->limotP.stop_erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2810 |
info->c[row] = -dMUL(k,joint->limotP.limit_err); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2811 |
info->cfm[row] = joint->limotP.stop_cfm; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2812 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2813 |
if (joint->limotP.lostop == joint->limotP.histop) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2814 |
// limited low and high simultaneously |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2815 |
info->lo[row] = -dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2816 |
info->hi[row] = dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2817 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2818 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2819 |
if (joint->limotP.limit == 1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2820 |
// low limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2821 |
info->lo[row] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2822 |
info->hi[row] = dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2823 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2824 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2825 |
// high limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2826 |
info->lo[row] = -dInfinity; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2827 |
info->hi[row] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2828 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2829 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2830 |
// deal with bounce |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2831 |
if (joint->limotP.bounce > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2832 |
// calculate joint velocity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2833 |
dReal vel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2834 |
vel = dDOT(joint->node[0].body->lvel, axP); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2835 |
if (joint->node[1].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2836 |
vel -= dDOT(joint->node[1].body->lvel, axP); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2837 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2838 |
// only apply bounce if the velocity is incoming, and if the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2839 |
// resulting c[] exceeds what we already have. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2840 |
if (joint->limotP.limit == 1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2841 |
// low limit |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2842 |
if (vel < 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2843 |
dReal newc = -dMUL(joint->limotP.bounce,vel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2844 |
if (newc > info->c[row]) info->c[row] = newc; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2845 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2846 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2847 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2848 |
// high limit - all those computations are reversed |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2849 |
if (vel > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2850 |
dReal newc = -dMUL(joint->limotP.bounce,vel); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2851 |
if (newc < info->c[row]) info->c[row] = newc; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2852 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2853 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2854 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2855 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2856 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2857 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2858 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2859 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2860 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2861 |
// compute initial relative rotation body1 -> body2, or env -> body1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2862 |
static void PRComputeInitialRelativeRotation (dxJointPR *joint) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2863 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2864 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2865 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2866 |
dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2867 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2868 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2869 |
// set joint->qrel to the transpose of the first body q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2870 |
joint->qrel[0] = joint->node[0].body->q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2871 |
for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2872 |
// WARNING do we need the - in -joint->node[0].body->q[i]; or not |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2873 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2874 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2875 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2876 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2877 |
EXPORT_C void dJointSetPRAnchor (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2878 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2879 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2880 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2881 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2882 |
dVector3 dummy; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2883 |
setAnchors (joint,x,y,z,dummy,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2884 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2885 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2886 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2887 |
EXPORT_C void dJointSetPRAxis1 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2888 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2889 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2890 |
//int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2891 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2892 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2893 |
setAxes (joint,x,y,z,joint->axisP1, 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2894 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2895 |
PRComputeInitialRelativeRotation (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2896 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2897 |
// compute initial relative rotation body1 -> body2, or env -> body1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2898 |
// also compute distance between anchor of body1 w.r.t center of body 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2899 |
dVector3 c; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2900 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2901 |
dVector3 anchor2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2902 |
dMULTIPLY0_331 (anchor2,joint->node[1].body->posr.R, joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2903 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2904 |
c[0] = ( joint->node[1].body->posr.pos[0] + anchor2[0] - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2905 |
joint->node[0].body->posr.pos[0] ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2906 |
c[1] = ( joint->node[1].body->posr.pos[1] + anchor2[1] - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2907 |
joint->node[0].body->posr.pos[1] ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2908 |
c[2] = ( joint->node[1].body->posr.pos[2] + anchor2[2] - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2909 |
joint->node[0].body->posr.pos[2] ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2910 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2911 |
else if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2912 |
c[0] = joint->anchor2[0] - joint->node[0].body->posr.pos[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2913 |
c[1] = joint->anchor2[1] - joint->node[0].body->posr.pos[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2914 |
c[2] = joint->anchor2[2] - joint->node[0].body->posr.pos[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2915 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2916 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2917 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2918 |
joint->offset[0] = joint->anchor2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2919 |
joint->offset[1] = joint->anchor2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2920 |
joint->offset[2] = joint->anchor2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2921 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2922 |
return; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2923 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2924 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2925 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2926 |
dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.R,c); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2927 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2928 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2929 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2930 |
EXPORT_C void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2931 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2932 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2933 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2934 |
setAxes (joint,x,y,z,joint->axisR1,joint->axisR2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2935 |
PRComputeInitialRelativeRotation (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2936 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2937 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2938 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2939 |
EXPORT_C void dJointSetPRParam (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2940 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2941 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2942 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2943 |
if ((parameter & 0xff00) == 0x100) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2944 |
joint->limotR.set (parameter,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2945 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2946 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2947 |
joint->limotP.set (parameter & 0xff,value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2948 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2949 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2950 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2951 |
EXPORT_C void dJointGetPRAnchor (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2952 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2953 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2954 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2955 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2956 |
if (joint->node[1].body) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2957 |
getAnchor2 (joint,result,joint->anchor2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2958 |
else |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2959 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2960 |
result[0] = joint->anchor2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2961 |
result[1] = joint->anchor2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2962 |
result[2] = joint->anchor2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2963 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2964 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2965 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2966 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2967 |
EXPORT_C void dJointGetPRAxis1 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2968 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2969 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2970 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2971 |
getAxis(joint, result, joint->axisP1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2972 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2973 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2974 |
EXPORT_C void dJointGetPRAxis2 (dJointID j, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2975 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2976 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2977 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2978 |
getAxis(joint, result, joint->axisR1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2979 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2980 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2981 |
EXPORT_C dReal dJointGetPRParam (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2982 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2983 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2984 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2985 |
if ((parameter & 0xff00) == 0x100) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2986 |
return joint->limotR.get (parameter & 0xff); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2987 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2988 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2989 |
return joint->limotP.get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2990 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2991 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2992 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2993 |
EXPORT_C void dJointAddPRTorque (dJointID j, dReal torque) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2994 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2995 |
dxJointPR* joint = (dxJointPR*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2996 |
dVector3 axis; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2997 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2998 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
2999 |
if (joint->flags & dJOINT_REVERSE) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3000 |
torque = -torque; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3001 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3002 |
getAxis (joint,axis,joint->axisR1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3003 |
axis[0] = dMUL(axis[0],torque); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3004 |
axis[1] = dMUL(axis[1],torque); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3005 |
axis[2] = dMUL(axis[2],torque); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3006 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3007 |
if (joint->node[0].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3008 |
dBodyAddTorque (joint->node[0].body, axis[0], axis[1], axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3009 |
if (joint->node[1].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3010 |
dBodyAddTorque(joint->node[1].body, -axis[0], -axis[1], -axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3011 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3012 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3013 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3014 |
dxJoint::Vtable __dPR_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3015 |
sizeof(dxJointPR), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3016 |
(dxJoint::init_fn*) PRInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3017 |
(dxJoint::getInfo1_fn*) PRGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3018 |
(dxJoint::getInfo2_fn*) PRGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3019 |
dJointTypePR |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3020 |
}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3021 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3022 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3023 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3024 |
// angular motor |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3025 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3026 |
static void amotorInit (dxJointAMotor *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3027 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3028 |
int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3029 |
j->num = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3030 |
j->mode = dAMotorUser; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3031 |
for (i=0; i<3; i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3032 |
j->rel[i] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3033 |
dSetZero (j->axis[i],4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3034 |
j->limot[i].init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3035 |
j->angle[i] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3036 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3037 |
dSetZero (j->reference1,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3038 |
dSetZero (j->reference2,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3039 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3040 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3041 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3042 |
// compute the 3 axes in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3043 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3044 |
static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3]) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3045 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3046 |
if (joint->mode == dAMotorEuler) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3047 |
// special handling for euler mode |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3048 |
dMULTIPLY0_331 (ax[0],joint->node[0].body->posr.R,joint->axis[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3049 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3050 |
dMULTIPLY0_331 (ax[2],joint->node[1].body->posr.R,joint->axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3051 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3052 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3053 |
ax[2][0] = joint->axis[2][0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3054 |
ax[2][1] = joint->axis[2][1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3055 |
ax[2][2] = joint->axis[2][2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3056 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3057 |
dCROSS (ax[1],=,ax[2],ax[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3058 |
dNormalize3 (ax[1]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3059 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3060 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3061 |
for (int i=0; i < joint->num; i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3062 |
if (joint->rel[i] == 1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3063 |
// relative to b1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3064 |
dMULTIPLY0_331 (ax[i],joint->node[0].body->posr.R,joint->axis[i]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3065 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3066 |
else if (joint->rel[i] == 2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3067 |
// relative to b2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3068 |
if (joint->node[1].body) { // jds: don't assert, just ignore |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3069 |
dMULTIPLY0_331 (ax[i],joint->node[1].body->posr.R,joint->axis[i]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3070 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3071 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3072 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3073 |
// global - just copy it |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3074 |
ax[i][0] = joint->axis[i][0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3075 |
ax[i][1] = joint->axis[i][1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3076 |
ax[i][2] = joint->axis[i][2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3077 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3078 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3079 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3080 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3081 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3082 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3083 |
static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3]) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3084 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3085 |
// assumptions: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3086 |
// global axes already calculated --> ax |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3087 |
// axis[0] is relative to body 1 --> global ax[0] |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3088 |
// axis[2] is relative to body 2 --> global ax[2] |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3089 |
// ax[1] = ax[2] x ax[0] |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3090 |
// original ax[0] and ax[2] are perpendicular |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3091 |
// reference1 is perpendicular to ax[0] (in body 1 frame) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3092 |
// reference2 is perpendicular to ax[2] (in body 2 frame) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3093 |
// all ax[] and reference vectors are unit length |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3094 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3095 |
// calculate references in global frame |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3096 |
dVector3 ref1,ref2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3097 |
dMULTIPLY0_331 (ref1,joint->node[0].body->posr.R,joint->reference1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3098 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3099 |
dMULTIPLY0_331 (ref2,joint->node[1].body->posr.R,joint->reference2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3100 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3101 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3102 |
ref2[0] = joint->reference2[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3103 |
ref2[1] = joint->reference2[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3104 |
ref2[2] = joint->reference2[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3105 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3106 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3107 |
// get q perpendicular to both ax[0] and ref1, get first euler angle |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3108 |
dVector3 q; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3109 |
dCROSS (q,=,ax[0],ref1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3110 |
joint->angle[0] = -dArcTan2 (dDOT(ax[2],q),dDOT(ax[2],ref1)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3111 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3112 |
// get q perpendicular to both ax[0] and ax[1], get second euler angle |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3113 |
dCROSS (q,=,ax[0],ax[1]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3114 |
joint->angle[1] = -dArcTan2 (dDOT(ax[2],ax[0]),dDOT(ax[2],q)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3115 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3116 |
// get q perpendicular to both ax[1] and ax[2], get third euler angle |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3117 |
dCROSS (q,=,ax[1],ax[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3118 |
joint->angle[2] = -dArcTan2 (dDOT(ref2,ax[1]), dDOT(ref2,q)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3119 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3120 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3121 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3122 |
// set the reference vectors as follows: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3123 |
// * reference1 = current axis[2] relative to body 1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3124 |
// * reference2 = current axis[0] relative to body 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3125 |
// this assumes that: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3126 |
// * axis[0] is relative to body 1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3127 |
// * axis[2] is relative to body 2 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3128 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3129 |
static void amotorSetEulerReferenceVectors (dxJointAMotor *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3130 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3131 |
if (j->node[0].body && j->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3132 |
dVector3 r; // axis[2] and axis[0] in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3133 |
dMULTIPLY0_331 (r,j->node[1].body->posr.R,j->axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3134 |
dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3135 |
dMULTIPLY0_331 (r,j->node[0].body->posr.R,j->axis[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3136 |
dMULTIPLY1_331 (j->reference2,j->node[1].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3137 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3138 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3139 |
else { // jds |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3140 |
// else if (j->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3141 |
// dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,j->axis[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3142 |
// dMULTIPLY0_331 (j->reference2,j->node[0].body->posr.R,j->axis[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3143 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3144 |
// We want to handle angular motors attached to passive geoms |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3145 |
dVector3 r; // axis[2] and axis[0] in global coordinates |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3146 |
r[0] = j->axis[2][0]; r[1] = j->axis[2][1]; r[2] = j->axis[2][2]; r[3] = j->axis[2][3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3147 |
dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3148 |
dMULTIPLY0_331 (r,j->node[0].body->posr.R,j->axis[0]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3149 |
j->reference2[0] += r[0]; j->reference2[1] += r[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3150 |
j->reference2[2] += r[2]; j->reference2[3] += r[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3151 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3152 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3153 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3154 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3155 |
static void amotorGetInfo1 (dxJointAMotor *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3156 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3157 |
info->m = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3158 |
info->nub = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3159 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3160 |
// compute the axes and angles, if in euler mode |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3161 |
if (j->mode == dAMotorEuler) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3162 |
dVector3 ax[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3163 |
amotorComputeGlobalAxes (j,ax); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3164 |
amotorComputeEulerAngles (j,ax); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3165 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3166 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3167 |
// see if we're powered or at a joint limit for each axis |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3168 |
for (int i=0; i < j->num; i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3169 |
if (j->limot[i].testRotationalLimit (j->angle[i]) || |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3170 |
j->limot[i].fmax > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3171 |
info->m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3172 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3173 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3174 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3175 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3176 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3177 |
static void amotorGetInfo2 (dxJointAMotor *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3178 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3179 |
int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3180 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3181 |
// compute the axes (if not global) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3182 |
dVector3 ax[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3183 |
amotorComputeGlobalAxes (joint,ax); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3184 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3185 |
// in euler angle mode we do not actually constrain the angular velocity |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3186 |
// along the axes axis[0] and axis[2] (although we do use axis[1]) : |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3187 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3188 |
// to get constrain w2-w1 along ...not |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3189 |
// ------ --------------------- ------ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3190 |
// d(angle[0])/dt = 0 ax[1] x ax[2] ax[0] |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3191 |
// d(angle[1])/dt = 0 ax[1] |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3192 |
// d(angle[2])/dt = 0 ax[0] x ax[1] ax[2] |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3193 |
// |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3194 |
// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3195 |
// to prove the result for angle[0], write the expression for angle[0] from |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3196 |
// GetInfo1 then take the derivative. to prove this for angle[2] it is |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3197 |
// easier to take the euler rate expression for d(angle[2])/dt with respect |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3198 |
// to the components of w and set that to 0. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3199 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3200 |
dVector3 *axptr[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3201 |
axptr[0] = &ax[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3202 |
axptr[1] = &ax[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3203 |
axptr[2] = &ax[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3204 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3205 |
dVector3 ax0_cross_ax1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3206 |
dVector3 ax1_cross_ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3207 |
if (joint->mode == dAMotorEuler) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3208 |
dCROSS (ax0_cross_ax1,=,ax[0],ax[1]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3209 |
axptr[2] = &ax0_cross_ax1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3210 |
dCROSS (ax1_cross_ax2,=,ax[1],ax[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3211 |
axptr[0] = &ax1_cross_ax2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3212 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3213 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3214 |
int row=0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3215 |
for (i=0; i < joint->num; i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3216 |
row += joint->limot[i].addLimot (joint,info,row,*(axptr[i]),1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3217 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3218 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3219 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3220 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3221 |
EXPORT_C void dJointSetAMotorNumAxes (dJointID j, int num) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3222 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3223 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3224 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3225 |
if (joint->mode == dAMotorEuler) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3226 |
joint->num = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3227 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3228 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3229 |
if (num < 0) num = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3230 |
if (num > 3) num = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3231 |
joint->num = num; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3232 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3233 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3234 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3235 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3236 |
EXPORT_C void dJointSetAMotorAxis (dJointID j, int anum, int rel, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3237 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3238 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3239 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3240 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3241 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3242 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3243 |
// adjust rel to match the internal body order |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3244 |
if (!joint->node[1].body && rel==2) rel = 1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3245 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3246 |
joint->rel[anum] = rel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3247 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3248 |
// x,y,z is always in global coordinates regardless of rel, so we may have |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3249 |
// to convert it to be relative to a body |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3250 |
dVector3 r; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3251 |
r[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3252 |
r[1] = y; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3253 |
r[2] = z; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3254 |
r[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3255 |
if (rel > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3256 |
if (rel==1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3257 |
dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3258 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3259 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3260 |
// don't assert; handle the case of attachment to a bodiless geom |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3261 |
if (joint->node[1].body) { // jds |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3262 |
dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3263 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3264 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3265 |
joint->axis[anum][0] = r[0]; joint->axis[anum][1] = r[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3266 |
joint->axis[anum][2] = r[2]; joint->axis[anum][3] = r[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3267 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3268 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3269 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3270 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3271 |
joint->axis[anum][0] = r[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3272 |
joint->axis[anum][1] = r[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3273 |
joint->axis[anum][2] = r[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3274 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3275 |
dNormalize3 (joint->axis[anum]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3276 |
if (joint->mode == dAMotorEuler) amotorSetEulerReferenceVectors (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3277 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3278 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3279 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3280 |
EXPORT_C void dJointSetAMotorAngle (dJointID j, int anum, dReal angle) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3281 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3282 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3283 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3284 |
if (joint->mode == dAMotorUser) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3285 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3286 |
if (anum > 3) anum = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3287 |
joint->angle[anum] = angle; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3288 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3289 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3290 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3291 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3292 |
EXPORT_C void dJointSetAMotorParam (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3293 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3294 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3295 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3296 |
int anum = parameter >> 8; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3297 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3298 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3299 |
parameter &= 0xff; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3300 |
joint->limot[anum].set (parameter, value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3301 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3302 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3303 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3304 |
EXPORT_C void dJointSetAMotorMode (dJointID j, int mode) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3305 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3306 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3307 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3308 |
joint->mode = mode; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3309 |
if (joint->mode == dAMotorEuler) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3310 |
joint->num = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3311 |
amotorSetEulerReferenceVectors (joint); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3312 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3313 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3314 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3315 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3316 |
EXPORT_C int dJointGetAMotorNumAxes (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3317 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3318 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3319 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3320 |
return joint->num; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3321 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3322 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3323 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3324 |
EXPORT_C void dJointGetAMotorAxis (dJointID j, int anum, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3325 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3326 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3327 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3328 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3329 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3330 |
if (joint->rel[anum] > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3331 |
if (joint->rel[anum]==1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3332 |
dMULTIPLY0_331 (result,joint->node[0].body->posr.R,joint->axis[anum]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3333 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3334 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3335 |
if (joint->node[1].body) { // jds |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3336 |
dMULTIPLY0_331 (result,joint->node[1].body->posr.R,joint->axis[anum]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3337 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3338 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3339 |
result[0] = joint->axis[anum][0]; result[1] = joint->axis[anum][1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3340 |
result[2] = joint->axis[anum][2]; result[3] = joint->axis[anum][3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3341 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3342 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3343 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3344 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3345 |
result[0] = joint->axis[anum][0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3346 |
result[1] = joint->axis[anum][1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3347 |
result[2] = joint->axis[anum][2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3348 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3349 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3350 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3351 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3352 |
EXPORT_C int dJointGetAMotorAxisRel (dJointID j, int anum) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3353 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3354 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3355 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3356 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3357 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3358 |
return joint->rel[anum]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3359 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3360 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3361 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3362 |
EXPORT_C dReal dJointGetAMotorAngle (dJointID j, int anum) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3363 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3364 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3365 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3366 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3367 |
if (anum > 3) anum = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3368 |
return joint->angle[anum]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3369 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3370 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3371 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3372 |
EXPORT_C dReal dJointGetAMotorAngleRate (dJointID /*j*/, int /*anum*/) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3373 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3374 |
// @@@ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3375 |
return 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3376 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3377 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3378 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3379 |
EXPORT_C dReal dJointGetAMotorParam (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3380 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3381 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3382 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3383 |
int anum = parameter >> 8; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3384 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3385 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3386 |
parameter &= 0xff; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3387 |
return joint->limot[anum].get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3388 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3389 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3390 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3391 |
EXPORT_C int dJointGetAMotorMode (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3392 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3393 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3394 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3395 |
return joint->mode; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3396 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3397 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3398 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3399 |
EXPORT_C void dJointAddAMotorTorques (dJointID j, dReal torque1, dReal torque2, dReal torque3) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3400 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3401 |
dxJointAMotor* joint = (dxJointAMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3402 |
dVector3 axes[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3403 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3404 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3405 |
if (joint->num == 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3406 |
return; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3407 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3408 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3409 |
amotorComputeGlobalAxes (joint,axes); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3410 |
axes[0][0] = dMUL(axes[0][0],torque1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3411 |
axes[0][1] = dMUL(axes[0][1],torque1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3412 |
axes[0][2] = dMUL(axes[0][2],torque1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3413 |
if (joint->num >= 2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3414 |
axes[0][0] += dMUL(axes[1][0],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3415 |
axes[0][1] += dMUL(axes[1][1],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3416 |
axes[0][2] += dMUL(axes[1][2],torque2); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3417 |
if (joint->num >= 3) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3418 |
axes[0][0] += dMUL(axes[2][0],torque3); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3419 |
axes[0][1] += dMUL(axes[2][1],torque3); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3420 |
axes[0][2] += dMUL(axes[2][2],torque3); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3421 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3422 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3423 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3424 |
if (joint->node[0].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3425 |
dBodyAddTorque (joint->node[0].body,axes[0][0],axes[0][1],axes[0][2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3426 |
if (joint->node[1].body != 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3427 |
dBodyAddTorque(joint->node[1].body, -axes[0][0], -axes[0][1], -axes[0][2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3428 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3429 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3430 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3431 |
dxJoint::Vtable __damotor_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3432 |
sizeof(dxJointAMotor), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3433 |
(dxJoint::init_fn*) amotorInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3434 |
(dxJoint::getInfo1_fn*) amotorGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3435 |
(dxJoint::getInfo2_fn*) amotorGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3436 |
dJointTypeAMotor}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3437 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3438 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3439 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3440 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3441 |
// lmotor joint |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3442 |
static void lmotorInit (dxJointLMotor *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3443 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3444 |
int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3445 |
j->num = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3446 |
for (i=0;i<3;i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3447 |
dSetZero(j->axis[i],4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3448 |
j->limot[i].init(j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3449 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3450 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3451 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3452 |
static void lmotorComputeGlobalAxes (dxJointLMotor *joint, dVector3 ax[3]) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3453 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3454 |
for (int i=0; i< joint->num; i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3455 |
if (joint->rel[i] == 1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3456 |
dMULTIPLY0_331 (ax[i],joint->node[0].body->posr.R,joint->axis[i]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3457 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3458 |
else if (joint->rel[i] == 2) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3459 |
if (joint->node[1].body) { // jds: don't assert, just ignore |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3460 |
dMULTIPLY0_331 (ax[i],joint->node[1].body->posr.R,joint->axis[i]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3461 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3462 |
} else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3463 |
ax[i][0] = joint->axis[i][0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3464 |
ax[i][1] = joint->axis[i][1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3465 |
ax[i][2] = joint->axis[i][2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3466 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3467 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3468 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3469 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3470 |
static void lmotorGetInfo1 (dxJointLMotor *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3471 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3472 |
info->m = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3473 |
info->nub = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3474 |
for (int i=0; i < j->num; i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3475 |
if (j->limot[i].fmax > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3476 |
info->m++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3477 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3478 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3479 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3480 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3481 |
static void lmotorGetInfo2 (dxJointLMotor *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3482 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3483 |
int row=0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3484 |
dVector3 ax[3]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3485 |
lmotorComputeGlobalAxes(joint, ax); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3486 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3487 |
for (int i=0;i<joint->num;i++) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3488 |
row += joint->limot[i].addLimot(joint,info,row,ax[i], 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3489 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3490 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3491 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3492 |
EXPORT_C void dJointSetLMotorAxis (dJointID j, int anum, int rel, dReal x, dReal y, dReal z) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3493 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3494 |
dxJointLMotor* joint = (dxJointLMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3495 |
//for now we are ignoring rel! |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3496 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3497 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3498 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3499 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3500 |
if (!joint->node[1].body && rel==2) rel = 1; //ref 1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3501 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3502 |
joint->rel[anum] = rel; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3503 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3504 |
dVector3 r; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3505 |
r[0] = x; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3506 |
r[1] = y; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3507 |
r[2] = z; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3508 |
r[3] = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3509 |
if (rel > 0) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3510 |
if (rel==1) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3511 |
dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3512 |
} else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3513 |
//second body has to exists thanks to ref 1 line |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3514 |
dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->posr.R,r); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3515 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3516 |
} else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3517 |
joint->axis[anum][0] = r[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3518 |
joint->axis[anum][1] = r[1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3519 |
joint->axis[anum][2] = r[2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3520 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3521 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3522 |
dNormalize3 (joint->axis[anum]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3523 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3524 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3525 |
EXPORT_C void dJointSetLMotorNumAxes (dJointID j, int num) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3526 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3527 |
dxJointLMotor* joint = (dxJointLMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3528 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3529 |
if (num < 0) num = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3530 |
if (num > 3) num = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3531 |
joint->num = num; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3532 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3533 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3534 |
EXPORT_C void dJointSetLMotorParam (dJointID j, int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3535 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3536 |
dxJointLMotor* joint = (dxJointLMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3537 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3538 |
int anum = parameter >> 8; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3539 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3540 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3541 |
parameter &= 0xff; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3542 |
joint->limot[anum].set (parameter, value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3543 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3544 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3545 |
EXPORT_C int dJointGetLMotorNumAxes (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3546 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3547 |
dxJointLMotor* joint = (dxJointLMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3548 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3549 |
return joint->num; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3550 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3551 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3552 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3553 |
EXPORT_C void dJointGetLMotorAxis (dJointID j, int anum, dVector3 result) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3554 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3555 |
dxJointLMotor* joint = (dxJointLMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3556 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3557 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3558 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3559 |
result[0] = joint->axis[anum][0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3560 |
result[1] = joint->axis[anum][1]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3561 |
result[2] = joint->axis[anum][2]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3562 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3563 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3564 |
EXPORT_C dReal dJointGetLMotorParam (dJointID j, int parameter) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3565 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3566 |
dxJointLMotor* joint = (dxJointLMotor*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3567 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3568 |
int anum = parameter >> 8; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3569 |
if (anum < 0) anum = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3570 |
if (anum > 2) anum = 2; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3571 |
parameter &= 0xff; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3572 |
return joint->limot[anum].get (parameter); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3573 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3574 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3575 |
dxJoint::Vtable __dlmotor_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3576 |
sizeof(dxJointLMotor), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3577 |
(dxJoint::init_fn*) lmotorInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3578 |
(dxJoint::getInfo1_fn*) lmotorGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3579 |
(dxJoint::getInfo2_fn*) lmotorGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3580 |
dJointTypeLMotor |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3581 |
}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3582 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3583 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3584 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3585 |
// fixed joint |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3586 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3587 |
static void fixedInit (dxJointFixed *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3588 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3589 |
dSetZero (j->offset,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3590 |
dSetZero (j->qrel,4); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3591 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3592 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3593 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3594 |
static void fixedGetInfo1 (dxJointFixed */*j*/, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3595 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3596 |
info->m = 6; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3597 |
info->nub = 6; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3598 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3599 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3600 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3601 |
static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3602 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3603 |
int s = info->rowskip; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3604 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3605 |
// Three rows for orientation |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3606 |
setFixedOrientation(joint, info, joint->qrel, 3); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3607 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3608 |
// Three rows for position. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3609 |
// set jacobian |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3610 |
info->J1l[0] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3611 |
info->J1l[s+1] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3612 |
info->J1l[2*s+2] = REAL(1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3613 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3614 |
dVector3 ofs; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3615 |
dMULTIPLY0_331 (ofs,joint->node[0].body->posr.R,joint->offset); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3616 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3617 |
dCROSSMAT (info->J1a,ofs,s,+,-); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3618 |
info->J2l[0] = REAL(-1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3619 |
info->J2l[s+1] = REAL(-1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3620 |
info->J2l[2*s+2] = REAL(-1.0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3621 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3622 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3623 |
// set right hand side for the first three rows (linear) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3624 |
dReal k = dMUL(info->fps,info->erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3625 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3626 |
for (int j=0; j<3; j++) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3627 |
info->c[j] = dMUL(k,(joint->node[1].body->posr.pos[j] - |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3628 |
joint->node[0].body->posr.pos[j] + ofs[j])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3629 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3630 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3631 |
for (int j=0; j<3; j++) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3632 |
info->c[j] = dMUL(k,(joint->offset[j] - joint->node[0].body->posr.pos[j])); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3633 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3634 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3635 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3636 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3637 |
EXPORT_C void dJointSetFixed (dJointID j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3638 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3639 |
dxJointFixed* joint = (dxJointFixed*)j; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3640 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3641 |
int i; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3642 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3643 |
// This code is taken from sJointSetSliderAxis(), we should really put the |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3644 |
// common code in its own function. |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3645 |
// compute the offset between the bodies |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3646 |
if (joint->node[0].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3647 |
if (joint->node[1].body) { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3648 |
dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3649 |
dReal ofs[4]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3650 |
for (i=0; i<4; i++) ofs[i] = joint->node[0].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3651 |
for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3652 |
dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.R,ofs); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3653 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3654 |
else { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3655 |
// set joint->qrel to the transpose of the first body's q |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3656 |
joint->qrel[0] = joint->node[0].body->q[0]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3657 |
for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3658 |
for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->posr.pos[i]; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3659 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3660 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3661 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3662 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3663 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3664 |
dxJoint::Vtable __dfixed_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3665 |
sizeof(dxJointFixed), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3666 |
(dxJoint::init_fn*) fixedInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3667 |
(dxJoint::getInfo1_fn*) fixedGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3668 |
(dxJoint::getInfo2_fn*) fixedGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3669 |
dJointTypeFixed}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3670 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3671 |
//**************************************************************************** |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3672 |
// null joint |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3673 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3674 |
static void nullGetInfo1 (dxJointNull */*j*/, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3675 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3676 |
info->m = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3677 |
info->nub = 0; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3678 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3679 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3680 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3681 |
static void nullGetInfo2 (dxJointNull */*joint*/, dxJoint::Info2 */*info*/) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3682 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3683 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3684 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3685 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3686 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3687 |
dxJoint::Vtable __dnull_vtable = { |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3688 |
sizeof(dxJointNull), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3689 |
(dxJoint::init_fn*) 0, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3690 |
(dxJoint::getInfo1_fn*) nullGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3691 |
(dxJoint::getInfo2_fn*) nullGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3692 |
dJointTypeNull}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3693 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3694 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3695 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3696 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3697 |
/* |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3698 |
This code is part of the Plane2D ODE joint |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3699 |
by psero@gmx.de |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3700 |
Wed Apr 23 18:53:43 CEST 2003 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3701 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3702 |
Add this code to the file: ode/src/joint.cpp |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3703 |
*/ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3704 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3705 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3706 |
# define VoXYZ(v1, o1, x, y, z) \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3707 |
( \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3708 |
(v1)[0] o1 (x), \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3709 |
(v1)[1] o1 (y), \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3710 |
(v1)[2] o1 (z) \ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3711 |
) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3712 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3713 |
static const dReal Midentity[3][3] = |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3714 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3715 |
{ REAL(1.0), 0, 0 }, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3716 |
{ 0, REAL(1.0), 0 }, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3717 |
{ 0, 0, REAL(1.0), } |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3718 |
}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3719 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3720 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3721 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3722 |
static void plane2dInit (dxJointPlane2D *j) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3723 |
/*********************************************/ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3724 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3725 |
/* MINFO ("plane2dInit ()"); */ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3726 |
j->motor_x.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3727 |
j->motor_y.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3728 |
j->motor_angle.init (j->world); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3729 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3730 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3731 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3732 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3733 |
static void plane2dGetInfo1 (dxJointPlane2D *j, dxJoint::Info1 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3734 |
/***********************************************************************/ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3735 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3736 |
/* MINFO ("plane2dGetInfo1 ()"); */ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3737 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3738 |
info->nub = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3739 |
info->m = 3; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3740 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3741 |
if (j->motor_x.fmax > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3742 |
j->row_motor_x = info->m ++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3743 |
if (j->motor_y.fmax > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3744 |
j->row_motor_y = info->m ++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3745 |
if (j->motor_angle.fmax > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3746 |
j->row_motor_angle = info->m ++; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3747 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3748 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3749 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3750 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3751 |
static void plane2dGetInfo2 (dxJointPlane2D *joint, dxJoint::Info2 *info) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3752 |
/***************************************************************************/ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3753 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3754 |
int r0 = 0, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3755 |
r1 = info->rowskip, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3756 |
r2 = 2 * r1; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3757 |
dReal eps = dMUL(info->fps,info->erp); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3758 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3759 |
/* MINFO ("plane2dGetInfo2 ()"); */ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3760 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3761 |
/* |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3762 |
v = v1, w = omega1 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3763 |
(v2, omega2 not important (== static environment)) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3764 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3765 |
constraint equations: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3766 |
xz = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3767 |
wx = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3768 |
wy = 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3769 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3770 |
<=> ( 0 0 1 ) (vx) ( 0 0 0 ) (wx) ( 0 ) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3771 |
( 0 0 0 ) (vy) + ( 1 0 0 ) (wy) = ( 0 ) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3772 |
( 0 0 0 ) (vz) ( 0 1 0 ) (wz) ( 0 ) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3773 |
J1/J1l Omega1/J1a |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3774 |
*/ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3775 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3776 |
// fill in linear and angular coeff. for left hand side: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3777 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3778 |
VoXYZ (&info->J1l[r0], =, 0, 0, REAL(1.0)); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3779 |
VoXYZ (&info->J1l[r1], =, 0, 0, 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3780 |
VoXYZ (&info->J1l[r2], =, 0, 0, 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3781 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3782 |
VoXYZ (&info->J1a[r0], =, 0, 0, 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3783 |
VoXYZ (&info->J1a[r1], =, REAL(1.0), 0, 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3784 |
VoXYZ (&info->J1a[r2], =, 0, REAL(1.0), 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3785 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3786 |
// error correction (against drift): |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3787 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3788 |
// a) linear vz, so that z (== pos[2]) == 0 |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3789 |
info->c[0] = dMUL(eps,-joint->node[0].body->posr.pos[2]); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3790 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3791 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3792 |
// if the slider is powered, or has joint limits, add in the extra row: |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3793 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3794 |
if (joint->row_motor_x > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3795 |
joint->motor_x.addLimot ( |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3796 |
joint, info, joint->row_motor_x, Midentity[0], 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3797 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3798 |
if (joint->row_motor_y > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3799 |
joint->motor_y.addLimot ( |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3800 |
joint, info, joint->row_motor_y, Midentity[1], 0); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3801 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3802 |
if (joint->row_motor_angle > 0) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3803 |
joint->motor_angle.addLimot ( |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3804 |
joint, info, joint->row_motor_angle, Midentity[2], 1); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3805 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3806 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3807 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3808 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3809 |
dxJoint::Vtable __dplane2d_vtable = |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3810 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3811 |
sizeof (dxJointPlane2D), |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3812 |
(dxJoint::init_fn*) plane2dInit, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3813 |
(dxJoint::getInfo1_fn*) plane2dGetInfo1, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3814 |
(dxJoint::getInfo2_fn*) plane2dGetInfo2, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3815 |
dJointTypePlane2D |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3816 |
}; |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3817 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3818 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3819 |
EXPORT_C void dJointSetPlane2DXParam (dxJoint *joint, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3820 |
int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3821 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3822 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3823 |
dxJointPlane2D* joint2d = (dxJointPlane2D*)( joint ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3824 |
joint2d->motor_x.set (parameter, value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3825 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3826 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3827 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3828 |
EXPORT_C void dJointSetPlane2DYParam (dxJoint *joint, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3829 |
int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3830 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3831 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3832 |
dxJointPlane2D* joint2d = (dxJointPlane2D*)( joint ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3833 |
joint2d->motor_y.set (parameter, value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3834 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3835 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3836 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3837 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3838 |
EXPORT_C void dJointSetPlane2DAngleParam (dxJoint *joint, |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3839 |
int parameter, dReal value) |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3840 |
{ |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3841 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3842 |
dxJointPlane2D* joint2d = (dxJointPlane2D*)( joint ); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3843 |
joint2d->motor_angle.set (parameter, value); |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3844 |
} |
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3845 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3846 |
|
2f259fa3e83a
Revision: 201003
Dremov Kirill (Nokia-D-MSW/Tampere) <kirill.dremov@nokia.com>
parents:
diff
changeset
|
3847 |