110 lines
3.3 KiB
Ada
110 lines
3.3 KiB
Ada
with
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gel.Joint,
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gel.Sprite,
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physics.Joint.DoF6,
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physics.Space;
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package GEL.any_Joint
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--
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-- Allows sprites to be connected via '6 degree of freedom' joint.
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--
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is
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type Item is new GEL.Joint.Item with private;
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type View is access all Item'Class;
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type Views is array (Math.Index range <>) of View;
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Sway : constant Joint.Degree_of_freedom := 1;
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Heave : constant Joint.Degree_of_freedom := 2;
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Surge : constant Joint.Degree_of_freedom := 3;
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Pitch : constant Joint.Degree_of_freedom := 4;
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Yaw : constant Joint.Degree_of_freedom := 5;
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Roll : constant Joint.Degree_of_freedom := 6;
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package std_physics renames standard.Physics;
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---------
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--- Forge
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--
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A, Sprite_B : access gel.Sprite.item'Class;
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pivot_Anchor : in math.Vector_3;
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pivot_Axis : in math.Matrix_3x3);
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procedure define (Self : access Item; in_Space : in std_physics.Space.view;
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Sprite_A, Sprite_B : access gel.Sprite.item'Class;
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Frame_A, Frame_B : in math.Matrix_4x4);
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overriding
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procedure destroy (Self : in out Item);
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--------------
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--- Attributes
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--
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overriding
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function Physics (Self : in Item) return gel.Joint.Physics_view;
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overriding
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function Frame_A (Self : in Item) return math.Matrix_4x4;
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overriding
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function Frame_B (Self : in Item) return math.Matrix_4x4;
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overriding
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procedure Frame_A_is (Self : in out Item; Now : in math.Matrix_4x4);
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overriding
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procedure Frame_B_is (Self : in out Item; Now : in math.Matrix_4x4);
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overriding
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function Degrees_of_freedom (Self : in Item) return joint.Degree_of_freedom;
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-- Bounds - limits the range of motion for a degree of freedom.
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--
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overriding
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function is_Bound (Self : in Item; for_Degree : in joint.Degree_of_freedom) return Boolean;
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overriding
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function low_Bound (Self : access Item; for_Degree : in joint.Degree_of_freedom) return math.Real;
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overriding
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procedure low_Bound_is (Self : access Item; for_Degree : in joint.Degree_of_freedom;
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Now : in math.Real);
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overriding
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function high_Bound (Self : access Item; for_Degree : in joint.Degree_of_freedom) return math.Real;
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overriding
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procedure high_Bound_is (Self : access Item; for_Degree : in joint.Degree_of_freedom;
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Now : in math.Real);
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overriding
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function Extent (Self : in Item; for_Degree : in joint.Degree_of_freedom) return math.Real;
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overriding
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procedure Velocity_is (Self : in Item; for_Degree : in joint.Degree_of_freedom;
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Now : in math.Real);
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--------------
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--- Operations
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--
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-- Nil.
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private
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type physics_DoF6_Joint_view is access all std_physics.Joint.DoF6.item'Class;
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type Item is new gel.Joint.item with
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record
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Physics : access std_physics.Joint.DoF6.item'Class;
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end record;
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end GEL.any_Joint;
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