PhyUniversal Class Reference

PhyUniversal class. More...

Inheritance diagram for PhyUniversal:

Public Member Functions
	PhyUniversal (const wVector &firstAxis, const wVector &secondAxis, const wVector &centre, PhyObject *parent, PhyObject *child, bool cp=true)
	Constructor. More...
virtual wVector	centre ()
	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 wVector	centre () const =0
	Return the centre of this joint in world coordinate. 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

PhyUniversal class.

\

Motivation

Universal Joint.

Description

This joint add two degree of freedom around two axis :-)

Warnings

Warnings

Definition at line 43 of file phyuniversal.h.

Constructor & Destructor Documentation

PhyUniversal	(	const wVector &	firstAxis,
		const wVector &	secondAxis,
		const wVector &	centre,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

Constructor.

Parameters

firstAxis	is the axis of rotation (respect to parent object frame)
secondAxis	is the second axis of rotation (must be ortogonal respect to firstAxis)
centre	is the center of rotation (respect to parent object frame)
parent	is the parent object.
child	is the child object
cp	is internal; ignore it The local frame is translated toward centre and the Z axis is aligned with the first axis and the Y axis is aligned to second Axis

Definition at line 27 of file phyuniversal.cpp.

References PhyUniversal::centre(), PhyUniversal::createPrivateJoint(), PhyJoint::dofsv, PhyJoint::dofv, PhyUniversal::forceOnJoint, PhyUniversal::globalMatrixChild, PhyUniversal::globalMatrixParent, wMatrix::inverse(), PhyUniversal::localMatrixChild, PhyUniversal::localMatrixParent, WObject::matrix(), wMatrix::sanitifize(), and wMatrix::sanityCheck().

Member Function Documentation

wVector centre ( )

virtual

Return the centre of this joint in world coordinate.

Definition at line 79 of file phyuniversal.cpp.

References PhyUniversal::globalMatrixParent, PhyUniversal::localMatrixParent, WObject::matrix(), and PhyJoint::parent().

Referenced by PhyUniversal::PhyUniversal().

void createPrivateJoint ( )

protected

Engine encapsulation.

Definition at line 92 of file phyuniversal.cpp.

References PhyJoint::priv.

Referenced by PhyUniversal::PhyUniversal().

wVector getForceOnJoint ( ) const

virtual

Returns the force applied to this joint.

Implements PhyJoint.

Definition at line 87 of file phyuniversal.cpp.

References PhyUniversal::forceOnJoint.

void updateJointInfo ( )

virtual

Update the Joint informations (each PhyDOF will be updated)

Implements PhyJoint.

Definition at line 99 of file phyuniversal.cpp.

References PhyJoint::child(), PhyUniversal::globalMatrixChild, PhyUniversal::globalMatrixParent, wMatrix::identity(), PhyUniversal::localMatrixChild, PhyUniversal::localMatrixParent, WObject::matrix(), PhyJoint::parent(), wMatrix::sanitifize(), and wMatrix::sanityCheck().

Member Data Documentation

wVector forceOnJoint

protected

The force applied to this joint.

Definition at line 95 of file phyuniversal.h.

Referenced by PhyUniversal::getForceOnJoint(), and PhyUniversal::PhyUniversal().

wMatrix globalMatrixChild

protected

Global Matrix respect to Child.

This represent the local frame of joint in global coordinate starting from localMatrixParent representation.

Definition at line 91 of file phyuniversal.h.

Referenced by PhyUniversal::PhyUniversal(), and PhyUniversal::updateJointInfo().

wMatrix globalMatrixParent

protected

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 85 of file phyuniversal.h.

Referenced by PhyUniversal::centre(), PhyUniversal::PhyUniversal(), and PhyUniversal::updateJointInfo().

wMatrix localMatrixChild

protected

Local frame of the joint respect to the child matrix.

Definition at line 75 of file phyuniversal.h.

Referenced by PhyUniversal::PhyUniversal(), and PhyUniversal::updateJointInfo().

wMatrix localMatrixParent

protected

Local frame of the joint respect to the parent matrix.

This matrix is calculated from firstAxis and secondAxis passed to constructor Centre is copied as it is into w_pos of localMatrixParent

Definition at line 73 of file phyuniversal.h.

Referenced by PhyUniversal::centre(), PhyUniversal::PhyUniversal(), and PhyUniversal::updateJointInfo().

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

• worldsim/include/phyuniversal.h
• worldsim/src/phyuniversal.cpp