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 
24 #ifndef _ODE_JOINT_NTERNAL_H_
25 #define _ODE_JOINT_INTERNAL_H_
26 
27 #include "config.h"
28 
29 #include <ode/matrix.h>
30 #include <ode/odemath.h>
31 #include <ode/rotation.h>
32 #include <ode/objects.h>
33 
34 #define checktype(j,t) dUASSERT(j->type() == dJointType##t, \
35                                 "joint type is not " #t)
36 
37 
38 void setBall( dxJoint *joint, dxJoint::Info2 *info,
39               dVector3 anchor1, dVector3 anchor2 );
40 void setBall2( dxJoint *joint, dxJoint::Info2 *info,
41                dVector3 anchor1, dVector3 anchor2,
42                dVector3 axis, dReal erp1 );
43 
44 
45 void setAnchors( dxJoint *j, dReal x, dReal y, dReal z,
46                  dVector3 anchor1, dVector3 anchor2 );
47 
48 void getAnchor( dxJoint *j, dVector3 result, dVector3 anchor1 );
49 void getAnchor2( dxJoint *j, dVector3 result, dVector3 anchor2 );
50 
51 void setAxes( dxJoint *j, dReal x, dReal y, dReal z,
52               dVector3 axis1, dVector3 axis2 );
53 void getAxis( dxJoint *j, dVector3 result, dVector3 axis1 );
54 void getAxis2( dxJoint *j, dVector3 result, dVector3 axis2 );
55 
56 
57 dReal getHingeAngle( dxBody *body1, dxBody *body2, dVector3 axis, dQuaternion q_initial );
58 dReal getHingeAngleFromRelativeQuat( dQuaternion qrel, dVector3 axis );
59 
60 void setFixedOrientation( dxJoint *joint, dxJoint::Info2 *info, dQuaternion qrel, int start_row );
61 
62 #endif
63 
64