PhyBallAndSocket Class Reference

PhyBallAndSocket class. More...

Inheritance diagram for PhyBallAndSocket:

List of all members.

Public Member Functions
	PhyBallAndSocket (const wVector &centre, PhyObject *parent, PhyObject *child, bool cp=true)
	Constructor.
virtual wVector	centre () const
	Return the centre of this joint in world coordinate.
virtual void	updateJointInfo ()
	Update the Joint informations (each PhyDOF will be updated)
Protected Member Functions
void	createPrivateJoint ()
	Engine encapsulation.
virtual void	updateJoint (real timestep)
Protected Attributes
wMatrix	globalMatrixChild
	Global Matrix respect to Child.
wMatrix	globalMatrixParent
	Global Matrix respect to Parent.
wMatrix	localMatrixChild
	Local frame of the joint respect to the child matrix.
wMatrix	localMatrixParent
	Local frame of the joint respect to the parent matrix.

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Detailed Description

PhyBallAndSocket class.

A joint implementing the Ball-and-Socket joint

Definition at line 37 of file phyballandsocket.h.

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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::globalMatrixParent, wMatrix::inverse(), PhyBallAndSocket::localMatrixChild, PhyBallAndSocket::localMatrixParent, WObject::matrix(), wMatrix::sanitifize(), wMatrix::sanityCheck(), wVectorT< false >::X(), wVectorT< false >::Y(), and wVectorT< false >::Z().

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Member Function Documentation

wVector centre

(

)

const [virtual]

Return the centre of this joint in world coordinate.

Implements PhyJoint.

Definition at line 57 of file phyballandsocket.cpp.

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

Referenced by PhyBallAndSocket::PhyBallAndSocket().

void createPrivateJoint

(

)

[protected]

Engine encapsulation.

Definition at line 65 of file phyballandsocket.cpp.

References PhyJoint::priv.

Referenced by PhyBallAndSocket::PhyBallAndSocket().

void updateJointInfo

(

)

[virtual]

Update the Joint informations (each PhyDOF will be updated)

Implements PhyJoint.

Definition at line 72 of file phyballandsocket.cpp.

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

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Member Data Documentation

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 70 of file phyballandsocket.h.

Referenced by PhyBallAndSocket::updateJointInfo().

wMatrix globalMatrixParent [mutable, 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 64 of file phyballandsocket.h.

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

wMatrix localMatrixChild [protected]

Local frame of the joint respect to the child matrix.

Definition at line 54 of file phyballandsocket.h.

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

wMatrix localMatrixParent [protected]

Local frame of the joint respect to the parent matrix.

Definition at line 52 of file phyballandsocket.h.

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

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

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