You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
55 lines
1.2 KiB
55 lines
1.2 KiB
// Fill out your copyright notice in the Description page of Project Settings.
|
|
|
|
#pragma once
|
|
|
|
#include "Eigen/Dense"
|
|
#include "CoreMinimal.h"
|
|
#include "Joint.generated.h"
|
|
|
|
using namespace Eigen;
|
|
|
|
class ULink;
|
|
/**
|
|
*
|
|
*/
|
|
UCLASS(BlueprintType, ClassGroup=(Custom))
|
|
class PBDROBOTICS_API UJoint : public UObject
|
|
{
|
|
GENERATED_BODY()
|
|
public:
|
|
|
|
UPROPERTY()
|
|
ULink* FirstLink;
|
|
|
|
UPROPERTY()
|
|
ULink* SecondLink;
|
|
|
|
// First Connection point in local space
|
|
Vector3d FirstLocalPosition;
|
|
|
|
// Second Connection point in local space
|
|
Vector3d SecondLocalPosition;
|
|
|
|
// Direction from CenterOfMass to First Connection point
|
|
Vector3d GetFirstWorldDirection() const;
|
|
|
|
// Direction from CenterOfMass to Second Connection point
|
|
Vector3d GetSecondWorldDirection() const;
|
|
|
|
// First - Second in World-Space
|
|
Vector3d GetConnection() const;
|
|
|
|
Vector3d FirstRotateAxis;
|
|
Vector3d SecondRotateAxis;
|
|
|
|
// World Axis, around which the First Link wants to rotate
|
|
Vector3d GetFirstWorldAxis() const;
|
|
|
|
// World Axis, around which the Second Link wants to rotate
|
|
Vector3d GetSecondWorldAxis() const;
|
|
|
|
void SolvePosition(const double H) const;
|
|
void SolveVelocity(const double H) const;
|
|
|
|
UJoint();
|
|
};
|
|
|