#include <joint.h>

Inheritance diagram for BallJoint:

Collaboration diagram for BallJoint:

Public Member Functions
	BallJoint (Primitive part1, Primitive part2, const osg::Vec3 &anchor)

virtual	~BallJoint ()

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

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 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 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...

Protected Attributes
OSGPrimitive *	visual

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

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

~BallJoint ( )

virtual

Member Function Documentation

virtual int getNumberAxes ( ) const

inlinevirtual

returns the number of Axes

Implements Joint.

double getParam ( int parameter ) const

virtual

return the ODE joint parameter (see ODE manual)

Implements Joint.

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 ball is drawn as a sphere with radius of visualSize.

Reimplemented from Joint.

void setParam	(	int	parameter,
		double	value
	)

virtual

sets the ODE joint parameter (see ODE manual)

Implements Joint.

void update ( )

virtual

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

Implements Joint.

Member Data Documentation

OSGPrimitive* visual

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