#include <joint.h>

Inheritance diagram for Joint:

Collaboration 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, bool ignoreColl=true)
	initialises (and creates) the joint. More...

virtual void	update ()=0
	should syncronise the Ode stuff and the OSG notes (if any) More...

virtual void	setParam (int parameter, double value)=0
	sets the ODE joint parameter (see ODE manual) More...

virtual double	getParam (int parameter) const =0
	return the ODE joint parameter (see ODE manual) More...

dJointID	getJoint () const

const Primitive *	getPart1 () const

Primitive *	getPart1 ()

const Primitive *	getPart2 () const

Primitive *	getPart2 ()

const osg::Vec3	getAnchor () const

virtual int	getNumberAxes () const =0
	returns the number of Axes More...

virtual Axis	getAxis (int n) const
	returns the n'th axis of the joint (starting with 0) More...

virtual std::list< double >	getPositions () const
	returns the positions of all Axes More...

virtual std::list< double >	getPositionRates () const
	returns the position rates of all Axes More...

virtual int	getPositions (double *sensorarray) const
	stores the positions of all Axes into sensorarray and returns the number of written entries More...

virtual int	getPositionRates (double *sensorarray) const
	stores the position rates of all Axes into sensorarray and returns the number of written entries More...

virtual void	setFeedBackMode (bool mode)
	enable or disable the feedback mode More...

virtual bool	getTorqueFeedback (Pos &t1, Pos &t2) const
	torque applied to body 1 and body 2 More...

virtual bool	getForceFeedback (Pos &f1, Pos &f2) const
	force applied to body 1 and body 2 More...

Static Public Member Functions
static osg::Matrix	anchorAxisPose (const osg::Vec3 &anchor, const Axis &axis)

Public Attributes
OdeHandle	odeHandle

Protected Attributes
dJointID	joint

Primitive *	part1

Primitive *	part2

osg::Vec3	anchor

dJointFeedback *	feedback

Constructor & Destructor Documentation

Joint	(	Primitive *	part1,
		Primitive *	part2,
		const osg::Vec3 &	anchor
	)

inline

~Joint ( )

virtual

Member Function Documentation

Matrix anchorAxisPose	(	const osg::Vec3 &	anchor,
		const Axis &	axis
	)

static

const osg::Vec3 getAnchor ( ) const

inline

virtual Axis getAxis ( int n ) const

inlinevirtual

returns the n'th axis of the joint (starting with 0)

Reimplemented in TwoAxisJoint, and OneAxisJoint.

bool getForceFeedback	(	Pos &	f1,
		Pos &	f2
	)		const

virtual

force applied to body 1 and body 2

dJointID getJoint ( ) const

inline

virtual int getNumberAxes ( ) const

pure virtual

returns the number of Axes

Implemented in BallJoint, FixedJoint, TwoAxisJoint, and OneAxisJoint.

virtual double getParam ( int parameter ) const

pure virtual

return the ODE joint parameter (see ODE manual)

Implemented in SliderJoint, BallJoint, UniversalJoint, Hinge2Joint, HingeJoint, and FixedJoint.

const Primitive* getPart1 ( ) const

inline

Primitive* getPart1 ( )

inline

const Primitive* getPart2 ( ) const

inline

Primitive* getPart2 ( )

inline

virtual std::list<double> getPositionRates ( ) const

inlinevirtual

returns the position rates of all Axes

Reimplemented in TwoAxisJoint, and OneAxisJoint.

virtual int getPositionRates ( double * sensorarray ) const

inlinevirtual

stores the position rates of all Axes into sensorarray and returns the number of written entries

Reimplemented in TwoAxisJoint, and OneAxisJoint.

virtual std::list<double> getPositions ( ) const

inlinevirtual

returns the positions of all Axes

Reimplemented in TwoAxisJoint, and OneAxisJoint.

virtual int getPositions ( double * sensorarray ) const

inlinevirtual

stores the positions of all Axes into sensorarray and returns the number of written entries

Reimplemented in TwoAxisJoint, and OneAxisJoint.

bool getTorqueFeedback	(	Pos &	t1,
		Pos &	t2
	)		const

virtual

torque applied to body 1 and body 2

void init	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		bool	withVisual = `true`,
		double	visualSize = `0.2`,
		bool	ignoreColl = `true`
	)

virtual

initialises (and creates) the joint.

If visual is true then the joints is also drawn. visualSize is the size of the visual representation. If ignoreColl is true then the pair of connected parts is ignored at collision handling. The member variable odeHandle is set to the given handle. (To be overloaded, but this init should be called always from children!)

Reimplemented in SliderJoint, BallJoint, UniversalJoint, Hinge2Joint, HingeJoint, and FixedJoint.