void dJointSetBallAnchor( dJointID j, dReal x, dReal y, dReal z )
{
dxJointBall* joint = ( dxJointBall* )j;
dUASSERT( joint, "bad joint argument" );
checktype( joint, Ball );
setAnchors( joint, x, y, z, joint->anchor1, joint->anchor2 );
}
void
dxJointHinge2::setRelativeValues()
{
dVector3 anchor;
dJointGetHinge2Anchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
dVector3 axis;
if ( node[0].body )
{
dJointGetHinge2Axis1(this, axis);
setAxes( this, axis[0],axis[1],axis[2], axis1, NULL );
}
if ( node[0].body )
{
dJointGetHinge2Axis2(this, axis);
setAxes( this, axis[0],axis[1],axis[2], NULL, axis2 );
}
dVector3 ax1, ax2;
getAxisInfo( ax1, ax2, axis, s0, c0 );
makeV1andV2();
makeW1andW2();
}
void
dxJointBall::setRelativeValues()
{
dVector3 anchor;
dJointGetBallAnchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
}
void
dxJointPU::setRelativeValues()
{
dVector3 anchor;
dJointGetPUAnchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
dVector3 ax1, ax2, ax3;
dJointGetPUAxis1(this, ax1);
dJointGetPUAxis2(this, ax2);
dJointGetPUAxis3(this, ax3);
if ( flags & dJOINT_REVERSE )
{
setAxes( this, ax1[0], ax1[1], ax1[2], NULL, axis2 );
setAxes( this, ax2[0], ax2[1], ax2[2], axis1, NULL );
}
else
{
setAxes( this, ax1[0], ax1[1], ax1[2], axis1, NULL );
setAxes( this, ax2[0], ax2[1], ax2[2], NULL, axis2 );
}
setAxes( this, ax3[0], ax3[1], ax3[2], axisP1, NULL );
computeInitialRelativeRotations();
}
void dJointSetPRAnchor( dJointID j, dReal x, dReal y, dReal z )
{
dxJointPR* joint = ( dxJointPR* ) j;
dUASSERT( joint, "bad joint argument" );
checktype( joint, PR );
setAnchors( joint, x, y, z, joint->offset, joint->anchor2 );
}
/**
* \brief This function initialize the anchor and the relative position of each body
* such that dJointGetPUPosition will return the dot product of axis and [dx,dy,dy].
*
* The body 1 is moved to [-dx, -dy, -dx] then the anchor is set. This will be the
* position 0 for the prismatic part of the joint. Then the body 1 is moved to its
* original position.
*
* Ex:
* <PRE>
* dReal offset = 1;
* dVector3 dir;
* dJointGetPUAxis3(jId, dir);
* dJointSetPUAnchor(jId, 0, 0, 0);
* // If you request the position you will have: dJointGetPUPosition(jId) == 0
* dJointSetPUAnchorDelta(jId, 0, 0, 0, dir[X]*offset, dir[Y]*offset, dir[Z]*offset);
* // If you request the position you will have: dJointGetPUPosition(jId) == offset
* </PRE>
* @param j The PU joint for which the anchor point will be set
* @param x The X position of the anchor point in world frame
* @param y The Y position of the anchor point in world frame
* @param z The Z position of the anchor point in world frame
* @param dx A delta to be added to the X position as if the anchor was set
* when body1 was at current_position[X] + dx
* @param dx A delta to be added to the Y position as if the anchor was set
* when body1 was at current_position[Y] + dy
* @param dx A delta to be added to the Z position as if the anchor was set
* when body1 was at current_position[Z] + dz
* @note Should have the same meaning as dJointSetSliderAxisDelta
*/
void dJointSetPUAnchorOffset( dJointID j, dReal x, dReal y, dReal z,
dReal dx, dReal dy, dReal dz )
{
dxJointPU* joint = ( dxJointPU* ) j;
dUASSERT( joint, "bad joint argument" );
checktype( joint, PU );
if (joint->flags & dJOINT_REVERSE)
{
dx = -dx;
dy = -dy;
dz = -dz;
}
if ( joint->node[0].body )
{
joint->node[0].body->posr.pos[0] -= dx;
joint->node[0].body->posr.pos[1] -= dy;
joint->node[0].body->posr.pos[2] -= dz;
}
setAnchors( joint, x, y, z, joint->anchor1, joint->anchor2 );
if ( joint->node[0].body )
{
joint->node[0].body->posr.pos[0] += dx;
joint->node[0].body->posr.pos[1] += dy;
joint->node[0].body->posr.pos[2] += dz;
}
joint->computeInitialRelativeRotations();
}
void dJointSetScrewAnchor( dJointID j, dReal x, dReal y, dReal z )
{
dxJointScrew* joint = ( dxJointScrew* )j;
dUASSERT( joint, "bad joint argument" );
checktype( joint, Screw );
setAnchors( joint, x, y, z, joint->anchor1, joint->anchor2 );
joint->computeInitialRelativeRotation();
}
void dJointSetHinge2Anchor( dJointID j, dReal x, dReal y, dReal z )
{
dxJointHinge2* joint = ( dxJointHinge2* )j;
dUASSERT( joint, "bad joint argument" );
checktype( joint, Hinge2 );
setAnchors( joint, x, y, z, joint->anchor1, joint->anchor2 );
joint->makeV1andV2();
}
void
dxJointScrew::setRelativeValues()
{
dVector3 vec;
dJointGetScrewAnchor(this, vec);
setAnchors( this, vec[0], vec[1], vec[2], anchor1, anchor2 );
dJointGetScrewAxis(this, vec);
setAxes( this, vec[0], vec[1], vec[2], axis1, axis2 );
computeInitialRelativeRotation();
}
void
dxJointPR::setRelativeValues()
{
dVector3 anchor;
dJointGetPRAnchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], offset, anchor2 );
dVector3 axis;
dJointGetPRAxis1(this, axis);
setAxes( this, axis[0], axis[1], axis[2], axisP1, 0 );
dJointGetPRAxis2(this, axis);
setAxes( this, axis[0], axis[1], axis[2], axisR1, axisR2 );
computeInitialRelativeRotation();
}
void
dxJointUniversal::setRelativeValues()
{
dVector3 anchor;
dJointGetUniversalAnchor(this, anchor);
setAnchors( this, anchor[0], anchor[1], anchor[2], anchor1, anchor2 );
dVector3 ax1,ax2;
dJointGetUniversalAxis1(this, ax1);
dJointGetUniversalAxis2(this, ax2);
if ( flags & dJOINT_REVERSE )
{
setAxes( this, ax1[0],ax1[1],ax1[2], NULL, axis2 );
setAxes( this, ax2[0],ax2[1],ax2[2], axis1, NULL );
}
else
{
setAxes( this, ax1[0],ax1[1],ax1[2], axis1, NULL );
setAxes( this, ax2[0],ax2[1],ax2[2], NULL, axis2 );
}
computeInitialRelativeRotations();
}
/*! Compute the HTML anchor names for all members in the group */
void GroupDef::computeAnchors()
{
//printf("GroupDef::computeAnchors()\n");
setAnchors(0,'a',allMemberList);
}
void NamespaceDef::computeAnchors()
{
MemberList *allMemberList = getMemberList(MemberListType_allMembersList);
if (allMemberList) setAnchors(allMemberList);
}
void NamespaceDef::computeAnchors()
{
MemberList *allMemberList = getMemberList(MemberList::allMembersList);
if (allMemberList) setAnchors(0,'a',allMemberList);
}
void NamespaceDef::computeAnchors()
{
setAnchors(0,'a',&allMemberList);
}
/*! Compute the HTML anchor names for all members in the class */
void FileDef::computeAnchors()
{
MemberList *ml = getMemberList(MemberList::allMembersList);
if (ml) setAnchors(0,'a',ml);
}
