PhyHinge Class Reference

PhyHinge class. More...

Inheritance diagram for PhyHinge:

List of all members.

Public Member Functions
	PhyHinge (const wVector &axis, const wVector &centre, real startAngle, PhyObject *parent, PhyObject *child, bool cp=true)
	Constructor.
	PhyHinge (const wVector &axis, const wVector &centre, PhyObject *parent, PhyObject *child, bool cp=true)
	In this constructor startAngle is supposed to be zero.
	PhyHinge (const wVector &axis, PhyObject *parent, PhyObject *child, bool cp=true)
	In this constructor centre and realAngle are supposed to be zero.
	PhyHinge (const wVector &axis, const wVector &centre, const wVector &x_axis, PhyObject *parent, PhyObject *child, bool cp=true)
	In this constructor centre and realAngle are supposed to be zero.
	PhyHinge (const wVector &axis, real startAngle, PhyObject *parent, PhyObject *child, bool cp=true)
	In this constructor centre is supposed to be zero (center of parent PhyObject)
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

PhyHinge class.

\

Motivation

Hinge Joint.

Description

This joint add a revolute constraint around an axis :-)

Warnings

Warnings

Definition at line 43 of file phyhinge.h.

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Constructor & Destructor Documentation

PhyHinge	(	const wVector &	axis,
		const wVector &	centre,
		real	startAngle,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

Constructor.

Parameters:

axis	is the axis of rotation (respect to parent object frame)
centre	is the center of rotation (respect to parent object frame)
startAngle	is the initial angle of the joint at the moment of creation
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 axis in order to create the complete local coordinate frame of this joint

Definition at line 101 of file phyhinge.cpp.

PhyHinge	(	const wVector &	axis,
		const wVector &	centre,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

In this constructor startAngle is supposed to be zero.

Definition at line 106 of file phyhinge.cpp.

PhyHinge	(	const wVector &	axis,
		real	startAngle,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

In this constructor centre is supposed to be zero (center of parent PhyObject)

Definition at line 111 of file phyhinge.cpp.

PhyHinge	(	const wVector &	axis,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

In this constructor centre and realAngle are supposed to be zero.

Definition at line 116 of file phyhinge.cpp.

PhyHinge	(	const wVector &	axis,
		const wVector &	centre,
		const wVector &	x_axis,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

In this constructor centre and realAngle are supposed to be zero.

Parameters:

x_axis

is the desired X local axis for joint frame (reference for zero angle)

Definition at line 121 of file phyhinge.cpp.

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

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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 164 of file phyhinge.cpp.

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

Referenced by PhyHinge::PhyHinge().

void createPrivateJoint

(

)

[protected]

Engine encapsulation.

Definition at line 172 of file phyhinge.cpp.

References PhyJoint::priv.

Referenced by PhyHinge::PhyHinge().

void updateJointInfo

(

)

[virtual]

Update the Joint informations (each PhyDOF will be updated)

Implements PhyJoint.

Definition at line 179 of file phyhinge.cpp.

References PhyJoint::child(), PhyJoint::dofsv, PhyJoint::enabled, PhyHinge::globalMatrixChild, PhyHinge::globalMatrixParent, PhyHinge::localMatrixChild, PhyHinge::localMatrixParent, WObject::matrix(), PhyJoint::parent(), PhyDOF::position(), PhyJoint::priv, wMatrix::sanityCheck(), World::timeStep(), and PhyJoint::world().

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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 105 of file phyhinge.h.

Referenced by PhyHinge::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. Note: This is mutable because it can be changed in the centre() const function

Definition at line 99 of file phyhinge.h.

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

wMatrix localMatrixChild [protected]

Local frame of the joint respect to the child matrix.

Definition at line 87 of file phyhinge.h.

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

wMatrix localMatrixParent [protected]

Local frame of the joint respect to the parent matrix.

This matrix is calculated from Axis and Centre passed to constructor Axis will became the Z-axis of local frame (axis of rotation), and the two others axes are calculated in order to get a local frame Centre is copied as it is into w_pos of localMatrixParent

Definition at line 85 of file phyhinge.h.

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

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

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