#include <joint.h>

Inheritance diagram for UniversalJoint:

Collaboration diagram for UniversalJoint:

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

virtual	~UniversalJoint ()

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 ()
	should syncronise the Ode stuff and the OSG notes (if any) More...

virtual void	addForce1 (double t1)
	adds torques to axis 1 and 2 More...

virtual void	addForce2 (double t2)

virtual double	getPosition1 () const

virtual double	getPosition2 () const

virtual double	getPosition1Rate () const

virtual double	getPosition2Rate () const

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

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

Public Member Functions inherited from TwoAxisJoint
	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

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

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

virtual	~Joint ()

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
OSGPrimitive *	visual1

OSGPrimitive *	visual2

Protected Attributes inherited from TwoAxisJoint
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