CustomBallAndSocket::CustomBallAndSocket(const dMatrix& pinAndPivotFrame0, const dMatrix& pinAndPivotFrame1, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
{
dMatrix dummy;
CalculateLocalMatrix (pinAndPivotFrame0, m_localMatrix0, dummy);
CalculateLocalMatrix (pinAndPivotFrame1, dummy, 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);
}
//////////////////////////////////////////////////////////////////////
// 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);
}
dCustomBallAndSocket::dCustomBallAndSocket(const dMatrix& pinAndPivotFrame0, const dMatrix& pinAndPivotFrame1, NewtonBody* const child, NewtonBody* const parent)
:dCustomJoint(6, child, parent)
,m_twistAngle(0.0f)
,m_minTwistAngle(-180.0f * dDegreeToRad)
,m_maxTwistAngle(180.0f * dDegreeToRad)
,m_maxConeAngle(60.0f * dDegreeToRad)
,m_coneFriction(0.0f)
,m_twistFriction(0.0f)
{
dMatrix dummy;
CalculateLocalMatrix(pinAndPivotFrame0, m_localMatrix0, dummy);
CalculateLocalMatrix(pinAndPivotFrame1, dummy, m_localMatrix1);
}
CustomHinge::CustomHinge (const dMatrix& pinAndPivotFrameChild, const dMatrix& pinAndPivotFrameParent, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
,m_curJointAngle()
,m_minAngle(-45.0f * 3.141592f / 180.0f)
,m_maxAngle(45.0f * 3.141592f / 180.0f)
,m_friction(0.0f)
,m_jointOmega(0.0f)
,m_limitsOn(false)
,m_lastRowWasUsed(false)
{
dMatrix dummy;
CalculateLocalMatrix (pinAndPivotFrameChild, m_localMatrix0, dummy);
CalculateLocalMatrix (pinAndPivotFrameParent, dummy, m_localMatrix1);
}
CustomMultiBodyVehicle::CustomMultiBodyVehicle(const dVector& frontDir, const dVector& upDir, const NewtonBody* carBody)
:NewtonCustomJoint(1, carBody, NULL)
{
dVector com;
dMatrix tmp;
dMatrix chassisMatrix;
m_tiresCount = 0;
m_diffencialCount = 0;
NewtonBodyGetMatrix(m_body0, &tmp[0][0]);
NewtonBodyGetCentreOfMass(m_body0, &com[0]);
com.m_w = 1.0f;
// set the joint reference point at the center of mass of the body
chassisMatrix.m_front = frontDir;
chassisMatrix.m_up = upDir;
chassisMatrix.m_right = frontDir * upDir;
chassisMatrix.m_posit = tmp.TransformVector(com);
chassisMatrix.m_front.m_w = 0.0f;
chassisMatrix.m_up.m_w = 0.0f;
chassisMatrix.m_right.m_w = 0.0f;
chassisMatrix.m_posit.m_w = 1.0f;
CalculateLocalMatrix (chassisMatrix, m_localFrame, tmp);
}
void BeamElement::CalculateLocalNodalStress(Vector& Stress)
{
Matrix Rotation;
Matrix LocalMatrix;
array_1d<double, 12 > CurrentDisplacement;
array_1d<double, 12 > LocalDisplacement;
Vector LocalBody = ZeroVector(12);
Vector GlobalBody = ZeroVector(12);
Rotation.resize(12,12, false);
Stress.resize(12, false);
CurrentDisplacement(0) = GetGeometry()[0].GetSolutionStepValue(DISPLACEMENT_X);
CurrentDisplacement(1) = GetGeometry()[0].GetSolutionStepValue(DISPLACEMENT_Y);
CurrentDisplacement(2) = GetGeometry()[0].GetSolutionStepValue(DISPLACEMENT_Z);
CurrentDisplacement(3) = GetGeometry()[0].GetSolutionStepValue(ROTATION_X);
CurrentDisplacement(4) = GetGeometry()[0].GetSolutionStepValue(ROTATION_Y);
CurrentDisplacement(5) = GetGeometry()[0].GetSolutionStepValue(ROTATION_Z);
CurrentDisplacement(6) = GetGeometry()[1].GetSolutionStepValue(DISPLACEMENT_X);
CurrentDisplacement(7) = GetGeometry()[1].GetSolutionStepValue(DISPLACEMENT_Y);
CurrentDisplacement(8) = GetGeometry()[1].GetSolutionStepValue(DISPLACEMENT_Z);
CurrentDisplacement(9) = GetGeometry()[1].GetSolutionStepValue(ROTATION_X);
CurrentDisplacement(10) = GetGeometry()[1].GetSolutionStepValue(ROTATION_Y);
CurrentDisplacement(11) = GetGeometry()[1].GetSolutionStepValue(ROTATION_Z);
CalculateTransformationMatrix(Rotation);
CalculateLocalMatrix(LocalMatrix);
noalias(LocalDisplacement) = prod(Matrix(trans(Rotation)), CurrentDisplacement);
CalculateBodyForce(Rotation, LocalBody, GlobalBody);
noalias(Stress) = -LocalBody + prod(LocalMatrix, LocalDisplacement);
// noalias(Stress) = -LocalBody + prod(Matrix(prod(Rotation,LocalMatrix)), LocalDisplacement);
return;
}
int DP_MultipleLocalBlockAlign(
const DP_BlockInfo *blocks, DP_BlockScoreFunction BlockScore,
unsigned int queryFrom, unsigned int queryTo,
DP_MultipleAlignmentResults **alignments, unsigned int maxAlignments)
{
if (!blocks || blocks->nBlocks < 1 || !blocks->blockSizes || !BlockScore || queryTo < queryFrom) {
ERROR_MESSAGE("DP_MultipleLocalBlockAlign() - invalid parameters");
return STRUCT_DP_PARAMETER_ERROR;
}
for (unsigned int block=0; block<blocks->nBlocks; ++block) {
if (blocks->freezeBlocks[block] != DP_UNFROZEN_BLOCK) {
WARNING_MESSAGE("DP_MultipleLocalBlockAlign() - frozen block specifications are ignored...");
break;
}
}
Matrix matrix(blocks->nBlocks, queryTo - queryFrom + 1);
int status = CalculateLocalMatrix(matrix, blocks, BlockScore, queryFrom, queryTo);
if (status != STRUCT_DP_OKAY) {
ERROR_MESSAGE("DP_MultipleLocalBlockAlign() - CalculateLocalMatrix() failed");
return status;
}
return TracebackMultipleLocalAlignments(matrix, blocks, queryFrom, queryTo, alignments, maxAlignments);
}
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);
}
CustomPathFollow::CustomPathFollow (const dMatrix& pinAndPivotFrame, NewtonBody* const child)
:CustomJoint(6, child, NULL)
,m_pathTangent (1.0f, 0.0f, 0.0f, 0.0f)
,m_pointOnPath (0.0f, 10.0f, 0.0f, 0.0)
{
// calculate the two local matrix of the pivot point
dMatrix tmp;
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, tmp);
}
CustomPointToPoint::CustomPointToPoint(const dVector& pivotInChildInGlobalSpace, const dVector& pivotInParentInGlobalSpace, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
{
dVector dist(pivotInChildInGlobalSpace - pivotInParentInGlobalSpace);
m_distance = dSqrt(dist % dist);
dMatrix childMatrix(dGetIdentityMatrix());
dMatrix parentMatrix(dGetIdentityMatrix());
childMatrix.m_posit = pivotInChildInGlobalSpace;
parentMatrix.m_posit = pivotInParentInGlobalSpace;
childMatrix.m_posit.m_w = 1.0f;
parentMatrix.m_posit.m_w = 1.0f;
dMatrix dummy;
CalculateLocalMatrix(childMatrix, m_localMatrix0, dummy);
CalculateLocalMatrix(parentMatrix, dummy, m_localMatrix1);
}
CustomLimitBallAndSocket::CustomLimitBallAndSocket(const dMatrix& childPinAndPivotFrame, NewtonBody* const child, const dMatrix& parentPinAndPivotFrame, NewtonBody* const parent)
:CustomBallAndSocket(childPinAndPivotFrame, child, parent)
,m_rotationOffset(childPinAndPivotFrame * parentPinAndPivotFrame.Inverse())
{
SetConeAngle (0.0f);
SetTwistAngle (0.0f, 0.0f);
dMatrix matrix;
CalculateLocalMatrix (parentPinAndPivotFrame, matrix, m_localMatrix1);
}
CustomHinge::CustomHinge(const dVector& pivot, const dVector& pin, NewtonBody* child, NewtonBody* parent)
:NewtonCustomJoint(6, child, parent)
{
m_limitsOn = false;
m_minAngle = -45.0f * 3.1416f / 180.0f;
m_maxAngle = 45.0f * 3.1416f / 180.0f;
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pivot, pin, m_localMatrix0, m_localMatrix1);
}
CustomSlider::CustomSlider (const dMatrix& pinAndPivotFrame, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
,m_speed(0.0f)
,m_posit(0.0f)
,m_minDist(-1.0f)
,m_maxDist(1.0f)
,m_limitsOn(false)
{
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
}
dCustomUpVector::dCustomUpVector(const dVector& pin, NewtonBody* child)
:dCustomJoint(2, child, NULL)
{
dMatrix pivot;
NewtonBodyGetMatrix(child, &pivot[0][0]);
dMatrix matrix (dGrammSchmidt(pin));
matrix.m_posit = pivot.m_posit;
CalculateLocalMatrix (matrix, m_localMatrix0, m_localMatrix1);
}
Custom6DOF::Custom6DOF (const dMatrix& pinsAndPivotChildFrame, const dMatrix& pinsAndPivotParentFrame___, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
,m_minLinearLimits(0.0f, 0.0f, 0.0f, 0.0f)
,m_maxLinearLimits(0.0f, 0.0f, 0.0f, 0.0f)
,m_minAngularLimits(0.0f, 0.0f, 0.0f, 0.0f)
,m_maxAngularLimits(0.0f, 0.0f, 0.0f, 0.0f)
,m_pitch()
,m_yaw()
,m_roll()
{
CalculateLocalMatrix (pinsAndPivotChildFrame, m_localMatrix0, m_localMatrix1);
}
CustomHinge::CustomHinge (const dMatrix& pinAndPivotFrame, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
,m_curJointAngle()
,m_minAngle(-45.0f * 3.141592f / 180.0f)
,m_maxAngle(45.0f * 3.141592f / 180.0f)
,m_friction(0.0f)
,m_jointOmega(0.0f)
,m_limitsOn(false)
,m_lastRowWasUsed(false)
{
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
}
CustomCorkScrew::CustomCorkScrew(const dVector& pivot, const dVector& pin, NewtonBody* child, NewtonBody* parent)
:NewtonCustomJoint(6, child, parent)
{
m_limitsOn = false;
m_minDist = -1.0f;
m_maxDist = 1.0f;
m_angularmotorOn = true;
m_angularDamp = 0.1f;
m_angularAccel = 5.0f;
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pivot, pin, m_localMatrix0, m_localMatrix1);
}
CustomSlider::CustomSlider (const dMatrix& pinAndPivotFrame, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
{
m_limitsOn = false;
m_hitLimitOnLastUpdate = false;
m_speed = 0.0f;
m_posit = 0.0f;
m_minDist = -1.0f;
m_maxDist = 1.0f;
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
}
CustomHinge::CustomHinge (const dMatrix& pinAndPivotFrame, const NewtonBody* child, const NewtonBody* parent)
:NewtonCustomJoint(6, child, parent), m_curJointAngle()
{
m_limitsOn = false;
m_jointOmega = 0.0f;
m_minAngle = -45.0f * 3.141592f / 180.0f;
m_maxAngle = 45.0f * 3.141592f / 180.0f;
// // the joint current angle is zero at joint creation time
// m_curJointAngle = 0.0f;
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
}
CustomSlidingContact::CustomSlidingContact (const dMatrix& pinAndPivotFrame, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
,m_curJointAngle()
,m_speed(0.0f)
,m_posit(0.0f)
{
EnableLinearLimits(false);
EnableAngularLimits(false);
SetLinearLimis(-1.0f, 1.0f);
SetAngularLimis(-30.0f * 3.141592f / 180.0f, 30.0f * 3.141592f / 180.0f);
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
}
dCustomTireSpringDG::dCustomTireSpringDG(const dMatrix& pinAndPivotFrameChild, const dMatrix& pinAndPivotFrameParent, NewtonBody* const child, NewtonBody* const parent)
:dCustomJoint(6, child, parent),
mUseBreak(false),
mUseSteer(false),
mUseTorque(false),
mUseHardBreak(false),
mIxx(0.0f),
mIyy(0.0f),
mIzz(0.0f),
mRealOmega(0.0f),
mTireOmegaCorrection(0.975f),
mFpsRequest(120.0f),
mTireTorque(0.0f),
mBrakeTorque(0.0f),
mSteerAngle(0.0f),
mAttachmentLength(10.0f),
mDistance(0.0f),
mMinSuspenssion(-0.25f),
mMaxSuspenssion(0.0f),
mSpringK(150.0f),
mSpringD(5.0f),
mSpringMassEffective(0.5f),
mAccel(0.0f),
mAttachMass(0.0f),
mCenterInTire(dVector(0.0f, 0.0f, 0.0f)),
mCenterInChassis(dVector(0.0f, 0.0f, 0.0f)),
mChassisPivotMatrix(dGetIdentityMatrix()),
mTirePivotMatrix(dGetIdentityMatrix()),
mRefFrameLocalMatrix(dGetIdentityMatrix())
{
dMatrix dummy;
CalculateLocalMatrix(pinAndPivotFrameChild, m_localMatrix0, dummy);
CalculateLocalMatrix(pinAndPivotFrameParent, dummy, m_localMatrix1);
//
mRefFrameLocalMatrix = m_localMatrix0;
NewtonBodyGetMass(parent, &mAttachMass, &mIxx, &mIyy, &mIzz);
}
void dCustomKinematicController::Init (NewtonBody* const body, const dMatrix& matrix)
{
CalculateLocalMatrix(matrix, m_localMatrix0, m_localMatrix1);
m_autoSleepState = NewtonBodyGetAutoSleep(body) ? true : false;
NewtonBodySetSleepState(body, 0);
SetPickMode(1);
SetLimitRotationVelocity(10.0f);
SetTargetMatrix(matrix);
SetMaxLinearFriction(1.0f);
SetMaxAngularFriction(1.0f);
// set as soft joint
SetSolverModel(2);
}
dAnimationRigHinge::dAnimationRigHinge(const dMatrix& basicMatrix, dAnimationRigJoint* const parent, NewtonBody* const body)
:dAnimationRigLimb(parent, body)
,dCustomHinge (basicMatrix, body, parent->GetNewtonBody())
,m_rowAccel(0.0f)
{
dMatrix boneAligmentMatrix(
dVector( 0.0f, 1.0f, 0.0f, 0.0f),
dVector( 0.0f, 0.0f, 1.0f, 0.0f),
dVector( 1.0f, 0.0f, 0.0f, 0.0f),
dVector( 0.0f, 0.0f, 0.0f, 1.0f));
dMatrix matrix (boneAligmentMatrix * basicMatrix);
CalculateLocalMatrix(matrix, m_localMatrix0, m_localMatrix1);
EnableLimits(true);
}
CustomConeLimitedBallAndSocket::CustomConeLimitedBallAndSocket(
dFloat twistAngle,
dFloat coneAngle,
const dVector& coneDir,
const dVector& pivot,
NewtonBody* child,
NewtonBody* parent)
:CustomBallAndSocket(pivot, child, parent)
{
m_coneAngle = coneAngle;
m_coneAngle = twistAngle;
m_cosConeAngle = dCos (m_coneAngle);
// Recalculate local matrices so that the front vector align with the cone pin
CalculateLocalMatrix (pivot, coneDir, m_localMatrix0, m_localMatrix1);
}
CustomCorkScrew::CustomCorkScrew (const dMatrix& pinAndPivotFrame, NewtonBody* child, NewtonBody* parent)
:CustomJoint(6, child, parent)
,m_curJointAngle()
{
m_limitsLinearOn = false;
m_limitsAngularOn = false;
m_minLinearDist = -1.0f;
m_maxLinearDist = 1.0f;
m_minAngularDist = -1.0f;
m_maxAngularDist = 1.0f;
m_angularmotorOn = false;
m_angularDamp = 0.1f;
m_angularAccel = 5.0f;
// calculate the two local matrix of the pivot point
CalculateLocalMatrix (pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
}
void BeamElement::CalculateLHS(Matrix& rLeftHandSideMatrix)
{
Matrix LocalMatrix;
Matrix Rotation;
Matrix aux_matrix;
LocalMatrix.resize(12,12, false);
Rotation.resize(12,12, false);
aux_matrix.resize(12,12, false);
rLeftHandSideMatrix.resize(12,12,false);
CalculateLocalMatrix(LocalMatrix);
CalculateTransformationMatrix(Rotation);
noalias(aux_matrix) = prod(Rotation, LocalMatrix);
noalias(rLeftHandSideMatrix)= prod(aux_matrix,Matrix(trans(Rotation)));
return;
}
CustomMultiBodyVehicleTire(
const NewtonBody* hubBody,
const NewtonBody* tire,
dFloat suspensionLength, dFloat springConst, dFloat damperConst, dFloat radio)
:NewtonCustomJoint(6, hubBody, tire)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dMatrix pinAndPivotFrame;
m_radius = radio;
m_steeAngle = 0.0f;
m_brakeToque = 0.0f;
m_enginetorque = 0.0f;
m_angularDragCoef = 0.0f;
m_spring = springConst;
m_damper = damperConst;
m_suspenstionSpan = suspensionLength;
NewtonBodyGetMassMatrix(tire, &mass, &Ixx, &Iyy, &Izz);
m_Ixx = Ixx;
// dFloat mass0;
// dFloat mass1;
// NewtonBodyGetMassMatrix(hubBody, &mass1, &Ixx, &Iyy, &Izz);
// m_effectiveSpringMass = mass0 * mass1 / (mass0 + mass1);
NewtonBodyGetMassMatrix(hubBody, &mass, &Ixx, &Iyy, &Izz);
m_effectiveSpringMass = mass * 0.25f;
NewtonBodyGetMatrix(tire, &pinAndPivotFrame[0][0]);
CalculateLocalMatrix (pinAndPivotFrame, m_chassisLocalMatrix, m_tireLocalMatrix);
m_refChassisLocalMatrix = m_chassisLocalMatrix;
}
CustomUniversal::CustomUniversal(const dMatrix& pinAndPivotFrame, NewtonBody* const child, NewtonBody* const parent)
:CustomJoint(6, child, parent)
,m_curJointAngle_0()
,m_curJointAngle_1()
{
// calculate the relative matrix of the pin and pivot on each body
CalculateLocalMatrix(pinAndPivotFrame, m_localMatrix0, m_localMatrix1);
m_limit_0_On = true;
m_angularMotor_0_On = false;
m_angularDamp_0 = 0.5f;
m_angularAccel_0 = -4.0f;
m_jointOmega_0 = 0.0f;
m_minAngle_0 = -45.0f * 3.141592f / 180.0f;
m_maxAngle_0 = 45.0f * 3.141592f / 180.0f;
m_limit_1_On = true;
m_angularMotor_1_On = false;
m_angularDamp_1 = 0.3f;
m_angularAccel_1 = -4.0f;
m_jointOmega_1 = 0.0f;
m_minAngle_1 = -45.0f * 3.141592f / 180.0f;
m_maxAngle_1 = 45.0f * 3.141592f / 180.0f;
}