#include <joint.h>

Inheritance diagram for TwoAxisJoint:

Collaboration diagram for TwoAxisJoint:

Public Member Functions
	TwoAxisJoint (Primitive part1, Primitive part2, const osg::Vec3 &anchor, const Axis axis1, const Axis axis2)

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

virtual Axis	getAxis2 () const

virtual double	getPosition2 () const =0

virtual double	getPosition2Rate () const =0

virtual void	addForce2 (double force)=0

void	addForces (double force1, double force2)

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

Public Member Functions inherited from OneAxisJoint
	OneAxisJoint (Primitive part1, Primitive part2, const osg::Vec3 &anchor, const Axis axis1)

virtual Axis	getAxis1 () const

virtual double	getPosition1 () const =0

virtual double	getPosition1Rate () const =0

virtual void	addForce1 (double force)=0

Public Member Functions inherited from Joint
	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 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...

Protected Attributes
Axis	axis2

Protected Attributes inherited from OneAxisJoint
Axis	axis1

Protected Attributes inherited from Joint
dJointID	joint

Primitive *	part1

Primitive *	part2

osg::Vec3	anchor

dJointFeedback *	feedback

Additional Inherited Members
Static Public Member Functions inherited from Joint
static osg::Matrix	anchorAxisPose (const osg::Vec3 &anchor, const Axis &axis)

Public Attributes inherited from Joint
OdeHandle	odeHandle

Constructor & Destructor Documentation

TwoAxisJoint	(	Primitive *	part1,
		Primitive *	part2,
		const osg::Vec3 &	anchor,
		const Axis	axis1,
		const Axis	axis2
	)

inline

Member Function Documentation

virtual void addForce2 ( double force )

pure virtual

Implemented in UniversalJoint, and Hinge2Joint.

void addForces	(	double	force1,
		double	force2
	)

inline

virtual Axis getAxis ( int n ) const

inlinevirtual

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

Reimplemented from OneAxisJoint.

virtual Axis getAxis2 ( ) const

inlinevirtual

virtual int getNumberAxes ( ) const

inlinevirtual

returns the number of Axes

Reimplemented from OneAxisJoint.

virtual double getPosition2 ( ) const

pure virtual

Implemented in UniversalJoint, and Hinge2Joint.

virtual double getPosition2Rate ( ) const

pure virtual

Implemented in UniversalJoint, and Hinge2Joint.

std::list< double > getPositionRates ( ) const

virtual

returns the position rates of all Axes

Reimplemented from OneAxisJoint.

int getPositionRates ( double * sensorarray ) const

virtual

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

Reimplemented from OneAxisJoint.

std::list< double > getPositions ( ) const

virtual

returns the positions of all Axes

Reimplemented from OneAxisJoint.

int getPositions ( double * sensorarray ) const

virtual

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

Reimplemented from OneAxisJoint.

Member Data Documentation

Axis axis2

protected

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation