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Integration of patch [ 1566410 ] Rename JointRP to JointPR.
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David Walters committed Nov 2, 2006
1 parent 8e5d50a commit f9d9c52
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Showing 2 changed files with 33 additions and 29 deletions.
10 changes: 6 additions & 4 deletions include/ode/objects.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1325,20 +1325,22 @@ ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torq
ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z);

/**
* @brief set the axis for the rotoide articulation
* @brief set the axis for the prismatic articulation
* @ingroup joints
*/
ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z);

/**
* @brief set the axis for the prismatic articulation
* @brief set the axis for the rotoide articulation
* @ingroup joints
*/
ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z);

/**
* @brief set joint parameter
* @ingroup joints
*
* @note parameterX where X equal 2 refer to parameter for the rotoide articulation
*/
ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value);

Expand Down Expand Up @@ -1711,13 +1713,13 @@ ODE_API dReal dJointGetPRPositionRate (dJointID);


/**
* @brief Get the Rotoide axis
* @brief Get the prismatic axis
* @ingroup joints
*/
ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result);

/**
* @brief Get the prismatic axis
* @brief Get the Rotoide axis
* @ingroup joints
*/
ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result);
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52 changes: 27 additions & 25 deletions ode/src/joint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2449,7 +2449,7 @@ dReal dJointGetPRPosition (dJointID j)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");

dVector3 q;
// get the offset in global coordinates
Expand Down Expand Up @@ -2495,7 +2495,7 @@ dReal dJointGetPRPositionRate (dJointID j)
// N.B. Not tested
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a Prismatic and Rotoide");

// get axisR1 in global coordinates
dVector3 ax1;
Expand Down Expand Up @@ -2563,7 +2563,7 @@ static void PRGetInfo2 (dxJointPR *joint, dxJoint::Info2 *info)
dReal k = info->fps * info->erp;


dVector3 q; // plane space of axP and after that axR
dVector3 p,q; // plane space of axP and after that axR

// pull out pos and R for both bodies. also get the `connection'
// vector pos2-pos1.
Expand Down Expand Up @@ -2894,7 +2894,7 @@ void dJointSetPRAnchor (dJointID j, dReal x, dReal y, dReal z)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");

dVector3 dummy;
setAnchors (joint,x,y,z,dummy,joint->anchor2);
Expand All @@ -2912,20 +2912,11 @@ void dJointSetPRAnchor (dJointID j, dReal x, dReal y, dReal z)


void dJointSetPRAxis1 (dJointID j, dReal x, dReal y, dReal z)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
setAxes (joint,x,y,z,joint->axisR1,joint->axisR2);
PRComputeInitialRelativeRotation (joint);
}

void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z)
{
dxJointPR* joint = (dxJointPR*)j;
int i;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");

setAxes (joint,x,y,z,joint->axisP1, 0);

Expand Down Expand Up @@ -2960,16 +2951,27 @@ void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z)
dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.R,c);
}


void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
setAxes (joint,x,y,z,joint->axisR1,joint->axisR2);
PRComputeInitialRelativeRotation (joint);
}


void dJointSetPRParam (dJointID j, int parameter, dReal value)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
if ((parameter & 0xff00) == 0x100) {
joint->limotP.set (parameter & 0xff,value);
joint->limotR.set (parameter,value);
}
else {
joint->limotR.set (parameter,value);
joint->limotP.set (parameter & 0xff,value);
}
}

Expand All @@ -2978,7 +2980,7 @@ void dJointGetPRAnchor (dJointID j, dVector3 result)
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(result,"bad result argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");

if (joint->node[1].body)
getAnchor2 (joint,result,joint->anchor2);
Expand All @@ -2996,24 +2998,24 @@ void dJointGetPRAxis1 (dJointID j, dVector3 result)
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(result,"bad result argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
getAxis(joint, result, joint->axisR1);
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
getAxis(joint, result, joint->axisP1);
}

void dJointGetRPAxis2 (dJointID j, dVector3 result)
void dJointGetPRAxis2 (dJointID j, dVector3 result)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(result,"bad result argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
getAxis(joint, result, joint->axisP1);
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
getAxis(joint, result, joint->axisR1);
}

dReal dJointGetPRParam (dJointID j, int parameter)
{
dxJointPR* joint = (dxJointPR*)j;
dUASSERT(joint,"bad joint argument");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not Prismatic and Rotoide");
if ((parameter & 0xff00) == 0x100) {
return joint->limotP.get (parameter & 0xff);
}
Expand All @@ -3025,7 +3027,7 @@ void dJointAddPRTorque (dJointID j, dReal torque)
dxJointPR* joint = (dxJointPR*)j;
dVector3 axis;
dAASSERT(joint);
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Rotoide and Prismatic");
dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");

if (joint->flags & dJOINT_REVERSE)
torque = -torque;
Expand Down

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