HingeJoint Class Reference

#include <joint.h>

Inheritance diagram for HingeJoint:

Collaboration diagram for HingeJoint:

Public Member Functions
	HingeJoint (Primitive *part1, Primitive *part2, const osg::Vec3 &anchor, const Axis &axis1)
virtual	~HingeJoint ()
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 t)
virtual double	getPosition1 () const
virtual double	getPosition1Rate () 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 OneAxisJoint
	OneAxisJoint (Primitive *part1, Primitive *part2, const osg::Vec3 &anchor, const Axis axis1)
virtual Axis	getAxis (int n) const
	returns the n'th axis of the joint (starting with 0) More...
virtual Axis	getAxis1 () const
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 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 *	visual
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

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

~HingeJoint ( )

virtual

Member Function Documentation

void addForce1 ( double  t )

virtual

Implements OneAxisJoint.

double getParam ( int  parameter ) const

virtual

return the ODE joint parameter (see ODE manual)

Implements Joint.

double getPosition1 ( ) const

virtual

Implements OneAxisJoint.

double getPosition1Rate ( ) const

virtual

Implements OneAxisJoint.

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 axis of the joints is also drawn as a slim cylinder. visualSize is the length of the cylinder.

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

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

• joint.h
• joint.cpp