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authordan miller2007-10-19 05:20:07 +0000
committerdan miller2007-10-19 05:20:07 +0000
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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#ifndef _ODE_JOINT_H_
24#define _ODE_JOINT_H_
25
26
27#include "objects.h"
28#include <ode/contact.h>
29#include "obstack.h"
30
31
32// joint flags
33enum {
34 // if this flag is set, the joint was allocated in a joint group
35 dJOINT_INGROUP = 1,
36
37 // if this flag is set, the joint was attached with arguments (0,body).
38 // our convention is to treat all attaches as (body,0), i.e. so node[0].body
39 // is always nonzero, so this flag records the fact that the arguments were
40 // swapped.
41 dJOINT_REVERSE = 2,
42
43 // if this flag is set, the joint can not have just one body attached to it,
44 // it must have either zero or two bodies attached.
45 dJOINT_TWOBODIES = 4
46};
47
48
49// there are two of these nodes in the joint, one for each connection to a
50// body. these are node of a linked list kept by each body of it's connecting
51// joints. but note that the body pointer in each node points to the body that
52// makes use of the *other* node, not this node. this trick makes it a bit
53// easier to traverse the body/joint graph.
54
55struct dxJointNode {
56 dxJoint *joint; // pointer to enclosing dxJoint object
57 dxBody *body; // *other* body this joint is connected to
58 dxJointNode *next; // next node in body's list of connected joints
59};
60
61/******************** breakable joint contribution ***********************/
62struct dxJointBreakInfo : public dBase {
63 int flags;
64 dReal b1MaxF[3]; // maximum force on body 1
65 dReal b1MaxT[3]; // maximum torque on body 1
66 dReal b2MaxF[3]; // maximum force on body 2
67 dReal b2MaxT[3]; // maximum torque on body 2
68 dJointBreakCallback *callback; // function that is called when this joint breaks
69};
70/*************************************************************************/
71
72struct dxJoint : public dObject {
73 // naming convention: the "first" body this is connected to is node[0].body,
74 // and the "second" body is node[1].body. if this joint is only connected
75 // to one body then the second body is 0.
76
77 // info returned by getInfo1 function. the constraint dimension is m (<=6).
78 // i.e. that is the total number of rows in the jacobian. `nub' is the
79 // number of unbounded variables (which have lo,hi = -/+ infinity).
80
81 struct Info1 {
82 int m,nub;
83 };
84
85 // info returned by getInfo2 function
86
87 struct Info2 {
88 // integrator parameters: frames per second (1/stepsize), default error
89 // reduction parameter (0..1).
90 dReal fps,erp;
91
92 // for the first and second body, pointers to two (linear and angular)
93 // n*3 jacobian sub matrices, stored by rows. these matrices will have
94 // been initialized to 0 on entry. if the second body is zero then the
95 // J2xx pointers may be 0.
96 dReal *J1l,*J1a,*J2l,*J2a;
97
98 // elements to jump from one row to the next in J's
99 int rowskip;
100
101 // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
102 // "constraint force mixing" vector. c is set to zero on entry, cfm is
103 // set to a constant value (typically very small or zero) value on entry.
104 dReal *c,*cfm;
105
106 // lo and hi limits for variables (set to -/+ infinity on entry).
107 dReal *lo,*hi;
108
109 // findex vector for variables. see the LCP solver interface for a
110 // description of what this does. this is set to -1 on entry.
111 // note that the returned indexes are relative to the first index of
112 // the constraint.
113 int *findex;
114 };
115
116 // virtual function table: size of the joint structure, function pointers.
117 // we do it this way instead of using C++ virtual functions because
118 // sometimes we need to allocate joints ourself within a memory pool.
119
120 typedef void init_fn (dxJoint *joint);
121 typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
122 typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
123 struct Vtable {
124 int size;
125 init_fn *init;
126 getInfo1_fn *getInfo1;
127 getInfo2_fn *getInfo2;
128 int typenum; // a dJointTypeXXX type number
129 };
130
131 Vtable *vtable; // virtual function table
132 int flags; // dJOINT_xxx flags
133 dxJointNode node[2]; // connections to bodies. node[1].body can be 0
134 dJointFeedback *feedback; // optional feedback structure
135
136 /******************** breakable joint contribution ***********************/
137 // optional break info structure. if this is not NULL the the joint is
138 // breakable.
139 dxJointBreakInfo *breakInfo;
140 /*************************************************************************/
141};
142
143
144// joint group. NOTE: any joints in the group that have their world destroyed
145// will have their world pointer set to 0.
146
147struct dxJointGroup : public dBase {
148 int num; // number of joints on the stack
149 dObStack stack; // a stack of (possibly differently sized) dxJoint
150}; // objects.
151
152
153// common limit and motor information for a single joint axis of movement
154struct dxJointLimitMotor {
155 dReal vel,fmax; // powered joint: velocity, max force
156 dReal lostop,histop; // joint limits, relative to initial position
157 dReal fudge_factor; // when powering away from joint limits
158 dReal normal_cfm; // cfm to use when not at a stop
159 dReal stop_erp,stop_cfm; // erp and cfm for when at joint limit
160 dReal bounce; // restitution factor
161 // variables used between getInfo1() and getInfo2()
162 int limit; // 0=free, 1=at lo limit, 2=at hi limit
163 dReal limit_err; // if at limit, amount over limit
164
165 void init (dxWorld *);
166 void set (int num, dReal value);
167 dReal get (int num);
168 int testRotationalLimit (dReal angle);
169 int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
170 dVector3 ax1, int rotational);
171};
172
173
174// ball and socket
175
176struct dxJointBall : public dxJoint {
177 dVector3 anchor1; // anchor w.r.t first body
178 dVector3 anchor2; // anchor w.r.t second body
179};
180extern struct dxJoint::Vtable __dball_vtable;
181
182
183// hinge
184
185struct dxJointHinge : public dxJoint {
186 dVector3 anchor1; // anchor w.r.t first body
187 dVector3 anchor2; // anchor w.r.t second body
188 dVector3 axis1; // axis w.r.t first body
189 dVector3 axis2; // axis w.r.t second body
190 dQuaternion qrel; // initial relative rotation body1 -> body2
191 dxJointLimitMotor limot; // limit and motor information
192};
193extern struct dxJoint::Vtable __dhinge_vtable;
194
195
196// universal
197
198struct dxJointUniversal : public dxJoint {
199 dVector3 anchor1; // anchor w.r.t first body
200 dVector3 anchor2; // anchor w.r.t second body
201 dVector3 axis1; // axis w.r.t first body
202 dVector3 axis2; // axis w.r.t second body
203 dQuaternion qrel1; // initial relative rotation body1 -> virtual cross piece
204 dQuaternion qrel2; // initial relative rotation virtual cross piece -> body2
205 dxJointLimitMotor limot1; // limit and motor information for axis1
206 dxJointLimitMotor limot2; // limit and motor information for axis2
207};
208extern struct dxJoint::Vtable __duniversal_vtable;
209
210
211// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
212// offset is the position of body1 center along axis1.
213
214struct dxJointSlider : public dxJoint {
215 dVector3 axis1; // axis w.r.t first body
216 dQuaternion qrel; // initial relative rotation body1 -> body2
217 dVector3 offset; // point relative to body2 that should be
218 // aligned with body1 center along axis1
219 dxJointLimitMotor limot; // limit and motor information
220};
221extern struct dxJoint::Vtable __dslider_vtable;
222
223
224// contact
225
226struct dxJointContact : public dxJoint {
227 int the_m; // number of rows computed by getInfo1
228 dContact contact;
229};
230extern struct dxJoint::Vtable __dcontact_vtable;
231
232
233// hinge 2
234
235struct dxJointHinge2 : public dxJoint {
236 dVector3 anchor1; // anchor w.r.t first body
237 dVector3 anchor2; // anchor w.r.t second body
238 dVector3 axis1; // axis 1 w.r.t first body
239 dVector3 axis2; // axis 2 w.r.t second body
240 dReal c0,s0; // cos,sin of desired angle between axis 1,2
241 dVector3 v1,v2; // angle ref vectors embedded in first body
242 dxJointLimitMotor limot1; // limit+motor info for axis 1
243 dxJointLimitMotor limot2; // limit+motor info for axis 2
244 dReal susp_erp,susp_cfm; // suspension parameters (erp,cfm)
245};
246extern struct dxJoint::Vtable __dhinge2_vtable;
247
248
249// angular motor
250
251struct dxJointAMotor : public dxJoint {
252 int num; // number of axes (0..3)
253 int mode; // a dAMotorXXX constant
254 int rel[3]; // what the axes are relative to (global,b1,b2)
255 dVector3 axis[3]; // three axes
256 dxJointLimitMotor limot[3]; // limit+motor info for axes
257 dReal angle[3]; // user-supplied angles for axes
258 // these vectors are used for calculating euler angles
259 dVector3 reference1; // original axis[2], relative to body 1
260 dVector3 reference2; // original axis[0], relative to body 2
261};
262extern struct dxJoint::Vtable __damotor_vtable;
263
264
265// fixed
266
267struct dxJointFixed : public dxJoint {
268 dQuaternion qrel; // initial relative rotation body1 -> body2
269 dVector3 offset; // relative offset between the bodies
270};
271extern struct dxJoint::Vtable __dfixed_vtable;
272
273
274// null joint, for testing only
275
276struct dxJointNull : public dxJoint {
277};
278extern struct dxJoint::Vtable __dnull_vtable;
279
280
281
282#endif