Joint Class Reference

#include <joint.h>

Inherited by BallJoint, FixedJoint, and OneAxisJoint.

Inheritance diagram for Joint:

[legend]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)
	initialises (and creates) the joint.
virtual void	update ()=0
	should syncronise the Ode stuff and the OSG notes (if any)
virtual void	setParam (int parameter, double value)=0
	sets the ODE joint parameter (see ODE manual)
virtual double	getParam (int parameter) const =0
	return the ODE joint parameter (see ODE manual)
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
virtual std::list< double >	getPositions () const
	returns the positions of all Axes
virtual std::list< double >	getPositionRates () const
	returns the position rates of all Axes
virtual int	getPositions (double *sensorarray) const
	stores the positions of all Axes into sensorarray and returns the number of written entries
virtual int	getPositionRates (double *sensorarray) const
	stores the position rates of all Axes into sensorarray and returns the number of written entries
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

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]

dJointID getJoint ( ) const [inline]

virtual int getNumberAxes ( ) const [pure virtual]

returns the number of Axes

Implemented in OneAxisJoint, TwoAxisJoint, FixedJoint, and BallJoint.

virtual double getParam ( int parameter ) const [pure virtual]

return the ODE joint parameter (see ODE manual)

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

Primitive* getPart1 ( ) [inline]

const Primitive* getPart1 ( ) const [inline]

Primitive* getPart2 ( ) [inline]

const Primitive* getPart2 ( ) const [inline]

virtual int getPositionRates ( double * sensorarray ) const [inline, virtual]

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

Reimplemented in OneAxisJoint, and TwoAxisJoint.

virtual std::list<double> getPositionRates ( ) const [inline, virtual]

returns the position rates of all Axes

Reimplemented in OneAxisJoint, and TwoAxisJoint.

virtual int getPositions ( double * sensorarray ) const [inline, virtual]

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

Reimplemented in OneAxisJoint, and TwoAxisJoint.

virtual std::list<double> getPositions ( ) const [inline, virtual]

returns the positions of all Axes

Reimplemented in OneAxisJoint, and TwoAxisJoint.

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

initialises (and creates) the joint.

If visual is true then the joints is also drawn. visualSize is the size of the visual representation. Also member variable odeHandle should be set. (To be overloaded, but this init should be called always from children!)

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