balljoint.cc

来自「机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。」· CC 代码 · 共 63 行

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: A ball joint
 * Author: Nate Keonig, Andrew Howard
 * Date: 21 May 2003
 * CVS: $Id: BallJoint.cc,v 1.4 2005/08/11 19:42:47 natepak Exp $
 */

#include "World.hh"
#include "BallJoint.hh"

//////////////////////////////////////////////////////////////////////////////
// Constructor
BallJoint::BallJoint( World *world )
  : Joint()
{
  this->jointId = dJointCreateBall(world->worldId, NULL);
}


//////////////////////////////////////////////////////////////////////////////
// Destructor
BallJoint::~BallJoint()
{
}


//////////////////////////////////////////////////////////////////////////////
// Get the joints anchor point
GzVector BallJoint::GetAnchor() const
{
  dVector3 result;
  dJointGetBallAnchor( jointId, result );
  return GzVectorSet( result[0], result[1], result[2] );
}


//////////////////////////////////////////////////////////////////////////////
// Set the joints anchor point
void BallJoint::SetAnchor(GzVector anchor) 
{
  dJointSetBallAnchor( jointId, anchor.x, anchor.y, anchor.z );
}