Joint Class Reference

#include <joint.h>

Inherited by BallJoint, FixedJoint, and OneAxisJoint.

Inheritance diagram for Joint:

[legend]Collaboration diagram for Joint:

[legend]List of all members.

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)=0
	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
const Primitive *	getPart2 () const
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)
Protected Attributes
dJointID	joint
Primitive *	part1
Primitive *	part2
osg::Vec3	anchor

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Constructor & Destructor Documentation

Joint	(	Primitive *	part1,
		Primitive *	part2,
		const osg::Vec3 &	anchor
	)			[inline]

~Joint

(

)

[virtual]

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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.

const Primitive* getPart1

(

)

const [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.

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

initialises (and creates) the joint.

If visual is true then the joints is also drawn. visualSize is the size of the visual representation. (To be overloaded)

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

virtual void setParam	(	int	parameter,
		double	value
	)			[pure virtual]

sets the ODE joint parameter (see ODE manual)

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

virtual void update

(

)

[pure virtual]

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

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

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Member Data Documentation

osg::Vec3 anchor [protected]

dJointID joint [protected]

Primitive* part1 [protected]

Primitive* part2 [protected]

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

• joint.h
• joint.cpp

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