UniversalJoint Class Reference

#include <joint.h>

Inherits TwoAxisJoint.

Inheritance diagram for UniversalJoint:

[legend]Collaboration diagram for UniversalJoint:

[legend]List of all members.

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)
	initialises (and creates) the joint.
virtual void	update ()
	should syncronise the Ode stuff and the OSG notes (if any)
virtual void	addForce1 (double t1)
	adds torques to axis 1 and 2
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)
virtual double	getParam (int parameter) const
	return the ODE joint parameter (see ODE manual)
Protected Attributes
OSGPrimitive *	visual1
OSGPrimitive *	visual2

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Constructor & Destructor Documentation

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

~UniversalJoint

(

)

[virtual]

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Member Function Documentation

void addForce1

(

double

t1

)

[virtual]

adds torques to axis 1 and 2

Implements OneAxisJoint.

void addForce2

(

double

t2

)

[virtual]

Implements TwoAxisJoint.

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.

double getPosition2

(

)

const [virtual]

Implements TwoAxisJoint.

double getPosition2Rate

(

)

const [virtual]

Implements 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 axix1 and axis2 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.

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Member Data Documentation

OSGPrimitive* visual1 [protected]

OSGPrimitive* visual2 [protected]

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

• joint.h
• joint.cpp

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