1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include "dart/dynamics/PlanarJoint.hpp"
34
35 namespace dart {
36 namespace dynamics {
37 namespace detail {
38
39 //==============================================================================
PlanarJointUniqueProperties(PlaneType _planeType)40 PlanarJointUniqueProperties::PlanarJointUniqueProperties(PlaneType _planeType)
41 {
42 switch (_planeType)
43 {
44 case PlaneType::ARBITRARY:
45 case PlaneType::XY:
46 setXYPlane();
47 mPlaneType
48 = _planeType; // In case the PlaneType was supposed to be arbitrary
49 break;
50 case PlaneType::YZ:
51 setYZPlane();
52 break;
53 case PlaneType::ZX:
54 setZXPlane();
55 break;
56 }
57 }
58
59 //==============================================================================
PlanarJointUniqueProperties(const Eigen::Vector3d & _transAxis1,const Eigen::Vector3d & _transAxis2)60 PlanarJointUniqueProperties::PlanarJointUniqueProperties(
61 const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2)
62 {
63 setArbitraryPlane(_transAxis1, _transAxis2);
64 }
65
66 //==============================================================================
PlanarJointUniqueProperties(const PlanarJointUniqueProperties & other)67 PlanarJointUniqueProperties::PlanarJointUniqueProperties(
68 const PlanarJointUniqueProperties& other)
69 {
70 switch (other.mPlaneType)
71 {
72 case PlaneType::ARBITRARY:
73 setArbitraryPlane(other.mTransAxis1, other.mTransAxis2);
74 break;
75 case PlaneType::XY:
76 setXYPlane();
77 break;
78 case PlaneType::YZ:
79 setYZPlane();
80 break;
81 case PlaneType::ZX:
82 setZXPlane();
83 break;
84 }
85 }
86
87 //==============================================================================
operator =(const PlanarJointUniqueProperties & other)88 PlanarJointUniqueProperties& PlanarJointUniqueProperties::operator=(
89 const PlanarJointUniqueProperties& other)
90 {
91 if (this != &other)
92 {
93 switch (other.mPlaneType)
94 {
95 case PlaneType::ARBITRARY:
96 setArbitraryPlane(other.mTransAxis1, other.mTransAxis2);
97 break;
98 case PlaneType::XY:
99 setXYPlane();
100 break;
101 case PlaneType::YZ:
102 setYZPlane();
103 break;
104 case PlaneType::ZX:
105 setZXPlane();
106 break;
107 }
108 }
109
110 return *this;
111 }
112
113 //==============================================================================
setXYPlane()114 void PlanarJointUniqueProperties::setXYPlane()
115 {
116 mPlaneType = PlaneType::XY;
117 mRotAxis = Eigen::Vector3d::UnitZ();
118 mTransAxis1 = Eigen::Vector3d::UnitX();
119 mTransAxis2 = Eigen::Vector3d::UnitY();
120 }
121
122 //==============================================================================
setYZPlane()123 void PlanarJointUniqueProperties::setYZPlane()
124 {
125 mPlaneType = PlaneType::YZ;
126 mRotAxis = Eigen::Vector3d::UnitX();
127 mTransAxis1 = Eigen::Vector3d::UnitY();
128 mTransAxis2 = Eigen::Vector3d::UnitZ();
129 }
130
131 //==============================================================================
setZXPlane()132 void PlanarJointUniqueProperties::setZXPlane()
133 {
134 mPlaneType = PlaneType::ZX;
135 mRotAxis = Eigen::Vector3d::UnitY();
136 mTransAxis1 = Eigen::Vector3d::UnitZ();
137 mTransAxis2 = Eigen::Vector3d::UnitX();
138 }
139
140 //==============================================================================
setArbitraryPlane(const Eigen::Vector3d & _transAxis1,const Eigen::Vector3d & _transAxis2)141 void PlanarJointUniqueProperties::setArbitraryPlane(
142 const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2)
143 {
144 // Set plane type as arbitrary plane
145 mPlaneType = PlaneType::ARBITRARY;
146
147 // First translational axis
148 mTransAxis1 = _transAxis1.normalized();
149
150 // Second translational axis
151 mTransAxis2 = _transAxis2.normalized();
152
153 // Orthogonalize translational axes
154 double dotProduct = mTransAxis1.dot(mTransAxis2);
155 assert(std::abs(dotProduct) < 1.0 - 1e-6);
156 if (std::abs(dotProduct) > 1e-6)
157 mTransAxis2 = (mTransAxis2 - dotProduct * mTransAxis1).normalized();
158
159 // Rotational axis
160 mRotAxis = (mTransAxis1.cross(mTransAxis2)).normalized();
161 }
162
163 //==============================================================================
PlanarJointProperties(const GenericJoint<math::R3Space>::Properties & genericJointProperties,const PlanarJointUniqueProperties & planarProperties)164 PlanarJointProperties::PlanarJointProperties(
165 const GenericJoint<math::R3Space>::Properties& genericJointProperties,
166 const PlanarJointUniqueProperties& planarProperties)
167 : GenericJoint<math::R3Space>::Properties(genericJointProperties),
168 PlanarJointUniqueProperties(planarProperties)
169 {
170 // Do nothing
171 }
172
173 } // namespace detail
174 } // namespace dynamics
175 } // namespace dart
176