revolute_joint.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include "frcsim/joints/joint_base.hpp"
 
namespace frcsim {

class RevoluteJoint : public JointBase {
 public:
  RevoluteJoint(RigidBody* body_a, RigidBody* body_b, const Vector3& axis_local)
      : JointBase(JointType::kRevolute, body_a, body_b),
        axis_local_(axis_local.normalized()) {}
 
  const Vector3& axisLocal() const { return axis_local_; }
 
  void setLimits(double min_angle_rad, double max_angle_rad) {
    has_limits_ = true;
    min_angle_rad_ = min_angle_rad;
    max_angle_rad_ = max_angle_rad;
  }
  void clearLimits() { has_limits_ = false; }
  bool hasLimits() const { return has_limits_; }
  double minAngle() const { return min_angle_rad_; }
  double maxAngle() const { return max_angle_rad_; }
 
  void setMotorTarget(double target_velocity_radps, double max_torque_nm) {
    has_motor_ = true;
    motor_target_velocity_radps_ = target_velocity_radps;
    motor_max_torque_nm_ = max_torque_nm;
  }
  bool hasMotor() const { return has_motor_; }
  double motorTargetVelocity() const { return motor_target_velocity_radps_; }
  double motorMaxTorque() const { return motor_max_torque_nm_; }
 
  void solveConstraint(double dt_s, int iterations) override;
  double constraintError() const override;
 
 private:
  Vector3 axis_local_{Vector3::unitZ()};
 
  bool has_limits_{false};
  double min_angle_rad_{0.0};
  double max_angle_rad_{0.0};
 
  bool has_motor_{false};
  double motor_target_velocity_radps_{0.0};
  double motor_max_torque_nm_{0.0};
};
 
}  // namespace frcsim