131 lines
3.7 KiB
C++
131 lines
3.7 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: An ODE ball joint
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* Author: Nate Koenig
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* Date: k13 Oct 2009
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*/
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#include "gazebo/gazebo_config.h"
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#include "gazebo/common/Console.hh"
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#include "gazebo/physics/ode/ODEBallJoint.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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ODEBallJoint::ODEBallJoint(dWorldID _worldId, BasePtr _parent)
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: BallJoint<ODEJoint>(_parent)
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{
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this->jointId = dJointCreateBall(_worldId, NULL);
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}
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//////////////////////////////////////////////////
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ODEBallJoint::~ODEBallJoint()
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{
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if (this->applyDamping)
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physics::Joint::DisconnectJointUpdate(this->applyDamping);
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}
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//////////////////////////////////////////////////
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math::Vector3 ODEBallJoint::GetAnchor(unsigned int /*_index*/) const
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{
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dVector3 result;
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if (this->jointId)
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dJointGetBallAnchor(jointId, result);
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else
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gzerr << "ODE Joint ID is invalid\n";
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return math::Vector3(result[0], result[1], result[2]);
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}
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//////////////////////////////////////////////////
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void ODEBallJoint::SetAnchor(unsigned int /*_index*/,
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const math::Vector3 &_anchor)
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{
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if (this->jointId)
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dJointSetBallAnchor(jointId, _anchor.x, _anchor.y, _anchor.z);
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else
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gzerr << "ODE Joint ID is invalid\n";
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}
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//////////////////////////////////////////////////
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void ODEBallJoint::SetForceImpl(unsigned int /*_index*/, double /*_torque*/)
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{
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gzerr << "Not implemented";
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}
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//////////////////////////////////////////////////
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math::Vector3 ODEBallJoint::GetGlobalAxis(unsigned int /*_index*/) const
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{
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return math::Vector3();
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}
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//////////////////////////////////////////////////
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void ODEBallJoint::SetVelocity(unsigned int /*_index*/, double /*_angle*/)
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{
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}
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//////////////////////////////////////////////////
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double ODEBallJoint::GetVelocity(unsigned int /*_index*/) const
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{
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return 0;
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}
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//////////////////////////////////////////////////
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math::Angle ODEBallJoint::GetAngleImpl(unsigned int /*_index*/) const
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{
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return math::Angle(0);
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}
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//////////////////////////////////////////////////
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void ODEBallJoint::SetAxis(unsigned int /*_index*/,
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const math::Vector3 &/*_axis*/)
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{
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gzerr << "ODEBallJoint::SetAxis not implemented" << std::endl;
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}
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//////////////////////////////////////////////////
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math::Angle ODEBallJoint::GetHighStop(unsigned int /*_index*/)
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{
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gzerr << "ODEBallJoint::GetHighStop not implemented" << std::endl;
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return math::Angle();
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}
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//////////////////////////////////////////////////
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math::Angle ODEBallJoint::GetLowStop(unsigned int /*_index*/)
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{
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gzerr << "ODEBallJoint::GetLowStop not implemented" << std::endl;
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return math::Angle();
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}
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//////////////////////////////////////////////////
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bool ODEBallJoint::SetHighStop(unsigned int /*_index*/,
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const math::Angle &/*_angle*/)
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{
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gzerr << "ODEBallJoint::SetHighStop not implemented" << std::endl;
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return false;
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}
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//////////////////////////////////////////////////
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bool ODEBallJoint::SetLowStop(unsigned int /*_index*/,
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const math::Angle &/*_angle*/)
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{
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gzerr << "ODEBallJoint::SetLowStop not implemented" << std::endl;
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return false;
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}
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