PhyFixed Class Reference

Public Member Functions | |
PhyFixed (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. |
Detailed Description
PhyFixed class.
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- Motivation
- a 0-DOF Joint.
- Description
- This joint fix togheter two object
- Warnings
- Warnings
Definition at line 43 of file phyfixed.h.
Constructor & Destructor Documentation
Constructor.
Definition at line 27 of file phyfixed.cpp.
References PhyFixed::createPrivateJoint(), PhyJoint::dofv, PhyFixed::globalMatrixParent, wMatrix::inverse(), PhyFixed::localMatrixChild, PhyFixed::localMatrixParent, WObject::matrix(), wMatrix::sanitifize(), wMatrix::sanityCheck(), wVectorT< false >::X(), wVectorT< false >::Y(), and wVectorT< false >::Z().
Member Function Documentation
wVector centre | ( | ) | const [virtual] |
Return the centre of this joint in world coordinate.
Implements PhyJoint.
Definition at line 57 of file phyfixed.cpp.
References PhyFixed::globalMatrixParent, PhyFixed::localMatrixParent, WObject::matrix(), and PhyJoint::parent().
void createPrivateJoint | ( | ) | [protected] |
Engine encapsulation.
Definition at line 65 of file phyfixed.cpp.
References PhyJoint::priv.
Referenced by PhyFixed::PhyFixed().
void updateJointInfo | ( | ) | [virtual] |
Update the Joint informations (each PhyDOF will be updated)
Implements PhyJoint.
Definition at line 72 of file phyfixed.cpp.
References PhyJoint::child(), PhyFixed::globalMatrixChild, PhyFixed::globalMatrixParent, PhyFixed::localMatrixChild, PhyFixed::localMatrixParent, WObject::matrix(), PhyJoint::parent(), and wMatrix::sanityCheck().
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 74 of file phyfixed.h.
Referenced by PhyFixed::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 68 of file phyfixed.h.
Referenced by PhyFixed::centre(), PhyFixed::PhyFixed(), and PhyFixed::updateJointInfo().
wMatrix localMatrixChild [protected] |
Local frame of the joint respect to the child matrix.
Definition at line 58 of file phyfixed.h.
Referenced by PhyFixed::PhyFixed(), and PhyFixed::updateJointInfo().
wMatrix localMatrixParent [protected] |
Local frame of the joint respect to the parent matrix.
Definition at line 56 of file phyfixed.h.
Referenced by PhyFixed::centre(), PhyFixed::PhyFixed(), and PhyFixed::updateJointInfo().
The documentation for this class was generated from the following files:
- worldsim/include/phyfixed.h
- worldsim/src/phyfixed.cpp