PhyBallAndSocket class. More...
Public Member Functions | |
| PhyBallAndSocket (const wVector ¢re, PhyObject *parent, PhyObject *child, bool cp=true) | |
| Constructor. More... | |
| virtual wVector | centre () const |
| Return the centre of this joint in world coordinate. More... | |
| virtual wVector | getForceOnJoint () const |
| Returns the force applied to this joint. More... | |
| virtual void | updateJointInfo () |
| Update the Joint informations (each PhyDOF will be updated) More... | |
 Public Member Functions inherited from PhyJoint | |
| PhyJoint (PhyObject *parent, PhyObject *child) | |
| Constructor. More... | |
| virtual | ~PhyJoint () |
| Destructor. More... | |
| virtual PhyObject * | child () |
| Return the child object attached to this joint (see Newton Documentation) More... | |
| virtual const PhyObject * | child () const |
| Return the child object attached to this joint (see Newton Documentation) (const version) More... | |
| virtual QVector< PhyDOF * > | dofs () |
| Return descriptions of DOF. More... | |
| void | enable (bool b) |
| enable/disable the joint More... | |
| bool | isEnabled () const |
| Return true if the joint is enabled. More... | |
| virtual unsigned int | numDofs () const |
| Return the number of DOF constrained by this joint. More... | |
| virtual PhyObject * | parent () |
| Return the parent object; (NULL means an object attached to static world; see Netwon Documentation) More... | |
| virtual const PhyObject * | parent () const |
| Return the parent object; (NULL means an object attached to static world; see Netwon Documentation) (const version) More... | |
| virtual void | postUpdate () |
| postUpdate the PhyJoint this method is called at each step of the world just after the physic update More... | |
| virtual void | preUpdate () |
| preUpdate the PhyJoint this method is called at each step of the world just before the physic update More... | |
| World * | world () |
| Return the World. More... | |
| const World * | world () const |
| Return the World (const version) More... | |
| Public Member Functions inherited from Ownable | |
| Ownable () | |
| Constructor. More... | |
| virtual | ~Ownable () |
| Destructor. More... | |
| const QList< Owned > & | owned () const |
| Returns the list of objects owned by this one. More... | |
| Ownable * | owner () const |
| Returns the owner of this object. More... | |
| void | setOwner (Ownable *owner, bool destroy=true) |
| Sets the owner of this object. More... | |
Protected Member Functions | |
| void | createPrivateJoint () |
| Engine encapsulation. More... | |
| virtual void | updateJoint (real timestep) |
Protected Attributes | |
| wVector | forceOnJoint |
| The force applied to this joint. More... | |
| wMatrix | globalMatrixChild |
| Global Matrix respect to Child. More... | |
| wMatrix | globalMatrixParent |
| Global Matrix respect to Parent. More... | |
| wMatrix | localMatrixChild |
| Local frame of the joint respect to the child matrix. More... | |
| wMatrix | localMatrixParent |
| Local frame of the joint respect to the parent matrix. More... | |
| Protected Attributes inherited from PhyJoint | |
| PhyObjectPrivate * | childpriv |
| PhyObject * | childv |
| child object More... | |
| QVector< PhyDOF * > | dofsv |
| vector of DOF's joint More... | |
| int | dofv |
| number of DOF More... | |
| bool | enabled |
| true if is enabled, false otherwise More... | |
| PhyObjectPrivate * | parentpriv |
| PhyObject * | parentv |
| parent object More... | |
| PhyJointPrivate * | priv |
| Engine encapsulation. More... | |
| WorldPrivate * | worldpriv |
| World * | worldv |
| world More... | |
Additional Inherited Members | |
| Public Types inherited from Ownable | |
| typedef QList< Owned > | OwnedList |
| The type for the list of owned objects. More... | |
Detailed Description
PhyBallAndSocket class.
A joint implementing the Ball-and-Socket joint
Definition at line 37 of file phyballandsocket.h.
Constructor & Destructor Documentation
| PhyBallAndSocket | ( | const wVector & | centre, |
| PhyObject * | parent, | ||
| PhyObject * | child, | ||
| bool | cp = true |
||
| ) |
Constructor.
- Parameters
-
centre is the centre of the Ball-and-Socket joint respect to the parent reference frame
Definition at line 27 of file phyballandsocket.cpp.
References PhyBallAndSocket::centre(), PhyBallAndSocket::createPrivateJoint(), PhyJoint::dofv, PhyBallAndSocket::forceOnJoint, PhyBallAndSocket::globalMatrixParent, wMatrix::inverse(), PhyBallAndSocket::localMatrixChild, PhyBallAndSocket::localMatrixParent, WObject::matrix(), wMatrix::sanitifize(), wMatrix::sanityCheck(), wVectorT< false >::X(), wVectorT< false >::Y(), and wVectorT< false >::Z().
Member Function Documentation
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virtual |
Return the centre of this joint in world coordinate.
Implements PhyJoint.
Definition at line 59 of file phyballandsocket.cpp.
References PhyBallAndSocket::globalMatrixParent, PhyBallAndSocket::localMatrixParent, WObject::matrix(), and PhyJoint::parent().
Referenced by PhyBallAndSocket::PhyBallAndSocket().
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protected |
Engine encapsulation.
Definition at line 72 of file phyballandsocket.cpp.
References PhyJoint::priv.
Referenced by PhyBallAndSocket::PhyBallAndSocket().
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virtual |
Returns the force applied to this joint.
Implements PhyJoint.
Definition at line 67 of file phyballandsocket.cpp.
References PhyBallAndSocket::forceOnJoint.
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virtual |
Update the Joint informations (each PhyDOF will be updated)
Implements PhyJoint.
Definition at line 79 of file phyballandsocket.cpp.
References PhyJoint::child(), PhyBallAndSocket::globalMatrixChild, PhyBallAndSocket::globalMatrixParent, PhyBallAndSocket::localMatrixChild, PhyBallAndSocket::localMatrixParent, WObject::matrix(), PhyJoint::parent(), and wMatrix::sanityCheck().
Member Data Documentation
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protected |
The force applied to this joint.
Definition at line 78 of file phyballandsocket.h.
Referenced by PhyBallAndSocket::getForceOnJoint(), and PhyBallAndSocket::PhyBallAndSocket().
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protected |
Global Matrix respect to Child.
This represent the local frame of joint in global coordinate starting from localMatrixParent representation.
Definition at line 74 of file phyballandsocket.h.
Referenced by PhyBallAndSocket::updateJointInfo().
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mutableprotected |
Global Matrix respect to Parent.
This represent the local frame of joint in global coordinate starting from localMatrixParent representation.
Note: The differences between globalMatrixParent and globalMatrixChild are due to numerical error on joint solver of physic engine used.
Definition at line 68 of file phyballandsocket.h.
Referenced by PhyBallAndSocket::centre(), PhyBallAndSocket::PhyBallAndSocket(), and PhyBallAndSocket::updateJointInfo().
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protected |
Local frame of the joint respect to the child matrix.
Definition at line 58 of file phyballandsocket.h.
Referenced by PhyBallAndSocket::PhyBallAndSocket(), and PhyBallAndSocket::updateJointInfo().
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protected |
Local frame of the joint respect to the parent matrix.
Definition at line 56 of file phyballandsocket.h.
Referenced by PhyBallAndSocket::centre(), PhyBallAndSocket::PhyBallAndSocket(), and PhyBallAndSocket::updateJointInfo().
The documentation for this class was generated from the following files:
- worldsim/include/phyballandsocket.h
- worldsim/src/phyballandsocket.cpp