jointStruct.h

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/*
 *  Copyright 2011, 2012, DFKI GmbH Robotics Innovation Center
 *
 *  This file is part of the MARS simulation framework.
 *
 *  MARS is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License
 *  as published by the Free Software Foundation, either version 3
 *  of the License, or (at your option) any later version.
 *
 *  MARS is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public License
 *   along with MARS.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef MARS_INTERFACES_JOINT_STRUCT_H
#define MARS_INTERFACES_JOINT_STRUCT_H

#include "MARSDefs.h"
#include <mars/utils/Vector.h>

#include <string>

namespace mars {
  namespace interfaces {

    struct jointStruct {

      explicit jointStruct( const std::string& name = "", JointType type = JOINT_TYPE_UNDEFINED, unsigned long node_id1 = 0, unsigned long node_id2 = 0 )
      {
        init( name, type, node_id1, node_id2 );
      }

      void init( const std::string& name = "", JointType type = JOINT_TYPE_UNDEFINED, unsigned long node_id1 = 0, unsigned long node_id2 = 0 )
      {
        this->name = name;
        index = 0;
        this->type = type;
        nodeIndex1 = node_id1;
        nodeIndex2 = node_id2;
        anchorPos = 0;
        spring_constant = 0;
        damping_constant = 0;
        lowStopAxis1 = 0;
        highStopAxis1 = 0;
        damping_const_constraint_axis1 = 0;
        spring_const_constraint_axis1 = 0;
        lowStopAxis2 = 0;
        highStopAxis2 = 0;
        damping_const_constraint_axis2 = 0;
        spring_const_constraint_axis2 = 0;
        angle1_offset = 0;
        angle2_offset = 0;
        anchor.setZero();
        axis1.setZero();
        axis1.setZero();
        axis2.setZero();
      }

      std::string name;         // the joints name
      unsigned long index; // index umber of the joint
      JointType type;            // type of the joint in the physic
      unsigned long nodeIndex1; // index of the first node the joint is connected to
      unsigned long nodeIndex2; // index of the second node the joint is connected to
      utils::Vector anchor; // the anchor positino of the joint
      int anchorPos; // the anchor configuration as node1,node2,center or custom
      utils::Vector axis1;  // the first axis rotation, defined through a (0,0,0) point and
      // and the given position
      // 1,0,0 --> the x axis and so on
      utils::Vector axis2;  // the second axis rotation
      // the spring and damping constants
      sReal spring_constant;
      sReal damping_constant;
      sReal lowStopAxis1;
      sReal highStopAxis1;
      sReal damping_const_constraint_axis1;
      sReal spring_const_constraint_axis1;
      sReal lowStopAxis2;
      sReal highStopAxis2;
      sReal damping_const_constraint_axis2;
      sReal spring_const_constraint_axis2;
      sReal angle1_offset;
      sReal angle2_offset;

    }; // end of struct jointStruct


    inline void ZERO_JOINT_STRUCT(jointStruct &a) {
      a.init();
    }

    
#define NEW_JOINT_STRUCT(a)                     \
    jointStruct a;

  } // end of namespace interfaces
} // end of namespace mars

#endif /* MARS_INTERFACES_JOINT_STRUCT_H */