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/* This file is part of StepCore library.
Copyright (C) 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
StepCore library is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
StepCore library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with StepCore; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/** \file joint.h
* \brief Joint classes
*/
#ifndef STEPCORE_JOINT_H
#define STEPCORE_JOINT_H
#include "world.h"
namespace StepCore
{
class Particle;
class RigidBody;
/** \ingroup joints
* \brief Fixes position of the body
*/
class Anchor: public Item, public Joint
{
STEPCORE_OBJECT(Anchor)
public:
/** Constructs Anchor */
explicit Anchor(Object* body = 0, const Vector2d& position = Vector2d::Zero(), double angle = 0);
/** Get pointer to the body */
Object* body() const { return _body; }
/** Set pointer to the body */
void setBody(Object* body);
/** Get position of the anchor */
const Vector2d& position() const { return _position; }
/** Set position of the anchor */
void setPosition(const Vector2d& position) { _position = position; }
/** Get angle of the anchor */
double angle() const { return _angle; }
/** Set angle of the anchor */
void setAngle(double angle) { _angle = angle; }
int constraintsCount();
void getConstraintsInfo(ConstraintsInfo* info, int offset);
//void getConstraints(double* value, double* derivative);
//void getJacobian(GmmSparseRowMatrix* value, GmmSparseRowMatrix* derivative, int offset);
protected:
Object* _body;
Vector2d _position;
double _angle;
Particle* _p;
RigidBody* _r;
};
/** \ingroup joints
* \brief Fixes position of a given point on the body
*/
class Pin: public Item, public Joint
{
STEPCORE_OBJECT(Pin)
public:
/** Constructs Pin */
explicit Pin(Object* body = 0, const Vector2d& localPosition = Vector2d::Zero(),
const Vector2d& position = Vector2d::Zero());
/** Get pointer to the body */
Object* body() const { return _body; }
/** Set pointer to the body */
void setBody(Object* body);
/** Local position of the pin on the body */
const Vector2d& localPosition() const { return _localPosition; }
/** Set local position of the pin on the body */
void setLocalPosition(const Vector2d& localPosition) { _localPosition = localPosition; }
/** Get global position of the pin */
const Vector2d& position() const { return _position; }
/** Set global position of the pin */
void setPosition(const Vector2d& position) { _position = position; }
int constraintsCount();
void getConstraintsInfo(ConstraintsInfo* info, int offset);
//void getConstraints(double* value, double* derivative);
//void getJacobian(GmmSparseRowMatrix* value, GmmSparseRowMatrix* derivative, int offset);
protected:
Object* _body;
Vector2d _localPosition;
Vector2d _position;
Particle* _p;
RigidBody* _r;
};
/** \ingroup joints
* \brief Massless stick: fixed distance between two points on particles or rigid bodies
*/
class Stick: public Item, public Joint
{
STEPCORE_OBJECT(Stick)
public:
/** Constructs Stick */
explicit Stick(double restLength = 1,
Object* body1 = 0, Object* body2 = 0,
const Vector2d& localPosition1 = Vector2d::Zero(),
const Vector2d& localPosition2 = Vector2d::Zero());
/** Get the restLength of the stick */
double restLength() const { return _restLength; }
/** Set the restLength of the stick */
void setRestLength(double restLength) { _restLength = restLength; }
/** Get pointer to the first connected body */
Object* body1() const { return _body1; }
/** Set pointer to the first connected body */
void setBody1(Object* body1);
/** Get pointer to the second connected body */
Object* body2() const { return _body2; }
/** Set pointer to the second connected body */
void setBody2(Object* body2);
/** Local position of the first end of the stick on the body
* or in the world (if the end is not connected) */
Vector2d localPosition1() const { return _localPosition1; }
/** Set local position of the first end of the stick on the body
* or in the world (if the end is not connected) */
void setLocalPosition1(const Vector2d& localPosition1) { _localPosition1 = localPosition1; }
/** Local position of the second end of the stick on the body
* or in the world (if the end is not connected) */
Vector2d localPosition2() const { return _localPosition2; }
/** Set local position of the second end of the stick on the body
* or in the world (if the end is not connected) */
void setLocalPosition2(const Vector2d& localPosition2) { _localPosition2 = localPosition2; }
/** Position of the first end of the stick */
Vector2d position1() const;
/** Position of the second end of the stick */
Vector2d position2() const;
/** Velocity of the first end of the stick */
Vector2d velocity1() const;
/** Velocity of the second end of the stick */
Vector2d velocity2() const;
/** Get first connected Particle */
Particle* particle1() const { return _p1; }
/** Get second connected Particle */
Particle* particle2() const { return _p2; }
/** Get first connected RigidBody */
RigidBody* rigidBody1() const { return _r1; }
/** Get second connected RigidBody */
RigidBody* rigidBody2() const { return _r2; }
int constraintsCount();
void getConstraintsInfo(ConstraintsInfo* info, int offset);
protected:
double _restLength;
Object* _body1;
Object* _body2;
Vector2d _localPosition1;
Vector2d _localPosition2;
Particle* _p1;
Particle* _p2;
RigidBody* _r1;
RigidBody* _r2;
};
/** \ingroup joints
* \brief Massless rope: maximal distance between two points on particles or rigid bodies
*/
class Rope: public Stick
{
STEPCORE_OBJECT(Rope)
public:
void getConstraintsInfo(ConstraintsInfo* info, int offset);
};
} // namespace StepCore
#endif
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