//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
CustomGear::CustomGear(
dFloat gearRatio,
const dVector& childPin,
const dVector& parentPin,
NewtonBody* child,
NewtonBody* parent)
:NewtonCustomJoint(1, child, parent)
{
m_gearRatio = gearRatio;
// calculate the two local matrix of the pivot point
// dVector pivot (0.0f, 0.0f, 0.0f);
dMatrix dommyMatrix;
// calculate the local matrix for body body0
dMatrix pinAndPivot0 (dgGrammSchmidt(childPin));
// CalculateLocalMatrix (pivot, childPin, m_localMatrix0, dommyMatrix);
CalculateLocalMatrix (pinAndPivot0, m_localMatrix0, dommyMatrix);
// calculate the local matrix for body body1
dMatrix pinAndPivot1 (dgGrammSchmidt(parentPin));
// CalculateLocalMatrix (pivot, parentPin, dommyMatrix, m_localMatrix1);
CalculateLocalMatrix (pinAndPivot1, dommyMatrix, m_localMatrix1);
}
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
CustomWormGear::CustomWormGear(
dFloat gearRatio,
const dVector& rotationalPin,
const dVector& linearPin,
NewtonBody* rotationalBody,
NewtonBody* linearBody)
:NewtonCustomJoint(1, rotationalBody, linearBody)
{
m_gearRatio = gearRatio;
// calculate the two local matrix of the pivot point
// dVector pivot (0.0f, 0.0f, 0.0f);
dMatrix dommyMatrix;
// calculate the local matrix for body body0
dMatrix pinAndPivot0 (dgGrammSchmidt (rotationalPin));
// CalculateLocalMatrix (pivot, rotationalPin, m_localMatrix0, dommyMatrix);
CalculateLocalMatrix (pinAndPivot0, m_localMatrix0, dommyMatrix);
// calculate the local matrix for body body1
// _ASSERTE (0);
dMatrix pinAndPivot1 (dgGrammSchmidt(linearPin));
// CalculateLocalMatrix (pivot, linearPin, dommyMatrix, m_localMatrix1);
CalculateLocalMatrix (pinAndPivot1, dommyMatrix, m_localMatrix1);
}
CustomRackAndPinion::CustomRackAndPinion(dFloat gearRatio, const dVector& rotationalPin, const dVector& linearPin, NewtonBody* rotationalBody, NewtonBody* linearBody)
:CustomJoint(1, rotationalBody, linearBody)
{
m_gearRatio = gearRatio;
dMatrix dommyMatrix;
dMatrix pinAndPivot0 (dGrammSchmidt (rotationalPin));
CalculateLocalMatrix (pinAndPivot0, m_localMatrix0, dommyMatrix);
m_localMatrix0.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
// calculate the local matrix for body body1
dMatrix pinAndPivot1 (dGrammSchmidt(linearPin));
CalculateLocalMatrix (pinAndPivot1, dommyMatrix, m_localMatrix1);
m_localMatrix1.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
}
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
CustomPulley::CustomPulley(dFloat gearRatio, const dVector& childPin, const dVector& parentPin, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(1, child, parent)
{
m_gearRatio = gearRatio;
// calculate the two local matrix of the pivot point
dMatrix dommyMatrix;
// calculate the local matrix for body body0
dMatrix pinAndPivot0 (dGrammSchmidt (childPin));
CalculateLocalMatrix (pinAndPivot0, m_localMatrix0, dommyMatrix);
m_localMatrix0.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
// calculate the local matrix for body body1
dMatrix pinAndPivot1 (dGrammSchmidt (parentPin));
CalculateLocalMatrix (pinAndPivot1, dommyMatrix, m_localMatrix1);
m_localMatrix1.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
}