WorldSim - 0.6.0

Utilities Configuration GA
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Public Member Functions | Protected Member Functions | Protected Attributes

PhyFixed Class Reference

PhyFixed class. More...

Inheritance diagram for PhyFixed:
Inheritance graph
[legend]

List of all members.

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.

\

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

PhyFixed ( PhyObject *  parent,
PhyObject *  child,
bool  cp = true 
)

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: