taoDynamics.h

Go to the documentation of this file.

/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _taoDynamics_h
#define _taoDynamics_h

#include "taoTypes.h"

class taoDNode;
class deVector3;
class deVector6;

class taoDynamics
{
public:
        static void initialize(taoDNode* root);
        static void reset(taoDNode* root);
        static void updateTransformation(taoDNode* root);

        static void integrate(taoDNode* root, deFloat dt);


        static void globalJacobian(taoDNode* root);


        static void invDynamics(taoDNode* root, deVector3* gravity);

        static void fwdDynamics(taoDNode* root, deVector3* gravity);



        static void computeA(taoDNode* root, const deInt dof, deFloat* A);
        static void computeAinv(taoDNode* root, const deInt dof, deFloat* Ainv);
        static void computeB(taoDNode* root, const deInt dof, deFloat* B);
        static void computeG(taoDNode* root, deVector3* gravity, const deInt dof, deFloat* G);


        static void computeOpSpaceInertiaMatrixInv(taoDNode* root, const deFloat* J, const deInt row, const deInt dof, const deFloat* Ainv, deFloat* Linv);

        static int computeDOF(taoDNode* obj);


        static void impulse(taoDNode* contactNode, const deVector3* contactPoint, const deVector3* impulseVector);
        static void impulseDist(taoDNode* contactNode, const deVector3* contactPoint, const deVector3* impulseVector);
        static void force(taoDNode* contactNode, const deVector3* contactPoint, const deVector3* forceVector);
        static void resetMass(taoDNode* node, const deFloat mass);

        static deFloat potentialEnergy(taoDNode* root, const deVector3* gravity);
        static deFloat kineticEnergy(taoDNode* root);

private:
        typedef enum {TAO_DDQ, TAO_DQ, TAO_TAU} flagType;
        static void _Read(taoDNode* root, deFloat* v, flagType type);
        static void _Write(taoDNode* root, deFloat* v, flagType type);
};

#endif // _taoDynamics_h

---