dNewtonJointDoubleHinge::dNewtonJointDoubleHinge(const dMatrix pintAndPivotMatrix, void* const body0, void* const body1)
:dNewtonJoint()
{
dMatrix bodyMatrix;
NewtonBody* const netwonBody0 = (NewtonBody*)body0;
NewtonBody* const netwonBody1 = (NewtonBody*)body1;
NewtonBodyGetMatrix(netwonBody0, &bodyMatrix[0][0]);
dMatrix matrix(pintAndPivotMatrix * bodyMatrix);
dCustomDoubleHinge* const joint = new dCustomDoubleHinge(matrix, netwonBody0, netwonBody1);
SetJoint(joint);
}
dNewtonJointDoubleHingeActuator::dNewtonJointDoubleHingeActuator(const dMatrix pintAndPivotMatrix, void* const body0, void* const body1)
:dNewtonJoint()
{
dMatrix bodyMatrix;
NewtonBody* const netwonBody0 = (NewtonBody*)body0;
NewtonBody* const netwonBody1 = (NewtonBody*)body1;
NewtonBodyGetMatrix(netwonBody0, &bodyMatrix[0][0]);
dMatrix matrix(pintAndPivotMatrix * bodyMatrix);
dCustomDoubleHingeActuator* const joint = new dCustomDoubleHingeActuator(matrix, netwonBody0, netwonBody1);
SetJoint(joint);
//joint->SetEnableFlag0(true);
//joint->SetEnableFlag1(true);
}
void Stable(void)
{
static double gval[3];
static double pre_pitch, pitch, pre_roll, roll;
int i;
if(timer_nowtime() - STABLETIMER > FRESHTIME)
{
ReadGSensor();
gval[0] = (double)(G_AXIS_VALUE[0]);
gval[1] = (double)(G_AXIS_VALUE[1]);
gval[2] = (double)(G_AXIS_VALUE[2]);
pitch = (GetPitch(gval)- 5.0*DEG_TO_RAD)*0.5 + pre_pitch*0.5;
roll = (GetRoll(gval) - 4.5*DEG_TO_RAD)*0.5 + pre_roll*0.5;
BODY_PITCH = BODY_PITCH + STABLE_P*pitch + (pitch - pre_pitch)*STABLE_D/FRESHTIME;
BODY_ROLL = BODY_ROLL + STABLE_P*roll + (roll - pre_roll)*STABLE_D/FRESHTIME;
if(BODY_PITCH > 60.0*DEG_TO_RAD)
BODY_PITCH = 60.0*DEG_TO_RAD;
else if(BODY_PITCH < -60.0*DEG_TO_RAD)
BODY_PITCH = -60.0*DEG_TO_RAD;
if(BODY_ROLL > 60.0*DEG_TO_RAD)
BODY_ROLL = 60.0*DEG_TO_RAD;
else if(BODY_ROLL < -60.0*DEG_TO_RAD)
BODY_ROLL = -60.0*DEG_TO_RAD;
for(i =0 ; i < 6; i++ )
{
LEGPOS[0] = LEGGOAL[3*i] - cos(J3MAP[i])*20.0;
LEGPOS[1] = LEGGOAL[3*i+1] - sin(J3MAP[i])*20.0;
LEGPOS[2] = LEGGOAL[3*i+2];
Transform(BODY_YAW, BODY_PITCH, BODY_ROLL, LEGPOS);
AdjustPos(POS_GAIN, LEGPOS);
CenterToJoint3(LEGPOS,i,J3GOAL);
Joint3ToJoint2(J3GOAL, J2GOAL);
JointAngle(LEGPOS, J2GOAL,i,JANGLE);
SetJoint(JANGLE,i);
rcservo_SetAction(POSITION, STABLETIME);
STABLETIMER = timer_nowtime();
}
pre_pitch = pitch;
pre_roll = roll;
}
rcservo_PlayAction();
}
void Idle(void)
{
int i;
double temp_p, temp_r;
if(rcservo_PlayAction() == RCSERVO_PLAYEND)
{
for(i =0 ; i < 6; i++ )
{
LEGPOS[0] = LEGGOAL[3*i];
LEGPOS[1] = LEGGOAL[3*i+1];
LEGPOS[2] = LEGGOAL[3*i+2];
if(SWING == 1)
{
ALPHA = ALPHA + PI/36.0;
if(ALPHA >= 2*PI - PI/36.0)
ALPHA = 0.0;
temp_p = BODY_PITCH + gain_p*sin(ALPHA)*DEG_TO_RAD;
temp_r = BODY_ROLL+ gain_r*sin(ALPHA+PI/2)*DEG_TO_RAD;
}
else
{
temp_p = BODY_PITCH;
temp_r = BODY_ROLL;
}
Transform(BODY_YAW, temp_p, temp_r, LEGPOS);
AdjustPos(POS_GAIN, LEGPOS);
CenterToJoint3(LEGPOS,i,J3GOAL);
Joint3ToJoint2(J3GOAL, J2GOAL);
JointAngle(LEGPOS, J2GOAL,i,JANGLE);
SetJoint(JANGLE,i);
rcservo_SetAction(POSITION, IDLEPLAYTIME);
}
IDLEFRAME = 0;
}
rcservo_PlayAction();
}
void SetMotion(int num)
{
double temp_p, temp_r;
GetLegMotion(LEGOPPOSITE, LEGGOAL, num, LEGFRAME[num],LEGPOS);
if(SWING == 1)
{
ALPHA = ALPHA + PI/36.0;
if(ALPHA >= 2*PI - PI/36.0)
ALPHA = 0.0;
temp_p = BODY_PITCH + gain_p*sin(ALPHA)*DEG_TO_RAD;
temp_r = BODY_ROLL+ gain_r*sin(ALPHA+PI/2)*DEG_TO_RAD;
}
else
{
temp_p = BODY_PITCH;
temp_r = BODY_ROLL;
}
Transform(BODY_YAW, temp_p, temp_r, LEGPOS);
AdjustPos(POS_GAIN, LEGPOS);
CenterToJoint3(LEGPOS,num,J3GOAL);
Joint3ToJoint2(J3GOAL, J2GOAL);
JointAngle(LEGPOS, J2GOAL,num,JANGLE);
SetJoint(JANGLE,num);
}
dNewtonHingeJoint::dNewtonHingeJoint(const dFloat* const pinAndPivotFrame, dNewtonDynamicBody* const body0, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_hinge)
{
SetJoint (new dCustomHinge (dMatrix(pinAndPivotFrame), body0->GetNewtonBody(), body1 ? body1->GetNewtonBody() : NULL));
}
dNewtonBallAndSocketJoint::dNewtonBallAndSocketJoint(const dFloat* const pinAndPivotFrame, dNewtonDynamicBody* const body0, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_ballAndSocket)
{
SetJoint (new dCustomBallAndSocket (dMatrix(pinAndPivotFrame), body0->GetNewtonBody(), body1 ? body1->GetNewtonBody() : NULL));
}
dNewtonGearAndRackJoint::dNewtonGearAndRackJoint(dFloat ratio, const dFloat* const body0Pin, dNewtonDynamicBody* const body0, const dFloat* const body1Pin, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_gearAndRack)
{
SetJoint (new dCustomRackAndPinion (ratio, body0Pin, body1Pin, body0->GetNewtonBody(), body1->GetNewtonBody()));
}
dNewtonPulleyJoint::dNewtonPulleyJoint(dFloat ratio, const dFloat* const body0Pin, dNewtonDynamicBody* const body0, const dFloat* const body1Pin, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_pulley)
{
SetJoint (new dCustomPulley (ratio, body0Pin, body1Pin, body0->GetNewtonBody(), body1->GetNewtonBody()));
}
dNewtonGearJoint::dNewtonGearJoint(dFloat ratio, const dFloat* const body0Pin, dNewtonDynamicBody* const body0, const dFloat* const body1Pin, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_gear)
{
SetJoint (new dCustomGear (ratio, body0Pin, body1Pin, body0->GetNewtonBody(), body1->GetNewtonBody()));
}
dNewtonCylindricalJoint::dNewtonCylindricalJoint(const dFloat* const pinAndPivotFrame, dNewtonDynamicBody* const body0, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_cylindrical)
{
SetJoint (new dCustomCorkScrew (dMatrix(pinAndPivotFrame), body0->GetNewtonBody(), body1 ? body1->GetNewtonBody() : NULL));
}
dNewtonDoubleHinge::dNewtonDoubleHinge(const dFloat* const pinAndPivotFrame, dNewtonDynamicBody* const body0, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_universal)
{
SetJoint (new dCustomDoubleHinge (dMatrix(pinAndPivotFrame), body0->GetNewtonBody(), body1 ? body1->GetNewtonBody() : NULL));
}
dNewtonSliderJoint::dNewtonSliderJoint(const dFloat* const pinAndPivotFrame, dNewtonDynamicBody* const body0, dNewtonDynamicBody* const body1)
:dNewtonJoint(m_slider)
{
SetJoint (new dCustomSlider (dMatrix(pinAndPivotFrame), body0->GetNewtonBody(), body1 ? body1->GetNewtonBody() : NULL));
}