#include <joint.h>
Inherited by BallJoint, FixedJoint, and OneAxisJoint.
Inheritance diagram for Joint:
Public Member Functions | |
Joint (Primitive *part1, Primitive *part2, const osg::Vec3 &anchor) | |
virtual | ~Joint () |
virtual void | init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, bool withVisual=true, double visualSize=0.2)=0 |
initialises (and creates) the joint. | |
virtual void | update ()=0 |
should syncronise the Ode stuff and the OSG notes (if any) | |
virtual void | setParam (int parameter, double value)=0 |
sets the ODE joint parameter (see ODE manual) | |
virtual double | getParam (int parameter) const =0 |
return the ODE joint parameter (see ODE manual) | |
dJointID | getJoint () const |
const Primitive * | getPart1 () const |
const Primitive * | getPart2 () const |
const osg::Vec3 | getAnchor () const |
virtual int | getNumberAxes () const =0 |
returns the number of Axes | |
virtual std::list< double > | getPositions () const |
returns the positions of all Axes | |
virtual std::list< double > | getPositionRates () const |
returns the position rates of all Axes | |
virtual int | getPositions (double *sensorarray) const |
stores the positions of all Axes into sensorarray and returns the number of written entries | |
virtual int | getPositionRates (double *sensorarray) const |
stores the position rates of all Axes into sensorarray and returns the number of written entries | |
Static Public Member Functions | |
osg::Matrix | anchorAxisPose (const osg::Vec3 &anchor, const Axis &axis) |
Protected Attributes | |
dJointID | joint |
Primitive * | part1 |
Primitive * | part2 |
osg::Vec3 | anchor |
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returns the number of Axes
Implemented in OneAxisJoint, TwoAxisJoint, FixedJoint, and BallJoint.
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return the ODE joint parameter (see ODE manual)
Implemented in FixedJoint, HingeJoint, Hinge2Joint, UniversalJoint, BallJoint, and SliderJoint.
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stores the position rates of all Axes into sensorarray and returns the number of written entries
Reimplemented in OneAxisJoint, and TwoAxisJoint.
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returns the position rates of all Axes
Reimplemented in OneAxisJoint, and TwoAxisJoint.
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stores the positions of all Axes into sensorarray and returns the number of written entries
Reimplemented in OneAxisJoint, and TwoAxisJoint.
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returns the positions of all Axes
Reimplemented in OneAxisJoint, and TwoAxisJoint.
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initialises (and creates) the joint. If visual is true then the joints is also drawn. visualSize is the size of the visual representation. (To be overloaded) Implemented in FixedJoint, HingeJoint, Hinge2Joint, UniversalJoint, BallJoint, and SliderJoint.
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sets the ODE joint parameter (see ODE manual)
Implemented in FixedJoint, HingeJoint, Hinge2Joint, UniversalJoint, BallJoint, and SliderJoint.
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should syncronise the Ode stuff and the OSG notes (if any)
Implemented in FixedJoint, HingeJoint, Hinge2Joint, UniversalJoint, BallJoint, and SliderJoint.
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