Inheritance diagram for PhyHinge:

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, real startAngle, PhyObject parent, PhyObject child, bool cp=true)
	In this constructor centre is supposed to be zero (center of parent PhyObject)

	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.

virtual wVector	centre () const
	Return the centre of this joint in world coordinate.

virtual wVector	getForceOnJoint () const
	Returns the force applied to this joint.

virtual void	updateJointInfo ()
	Update the Joint informations (each PhyDOF will be updated)

Public Member Functions inherited from PhyJoint
	PhyJoint (PhyObject parent, PhyObject child)
	Constructor.

virtual	~PhyJoint ()
	Destructor.

virtual PhyObject *	child ()
	Return the child object attached to this joint (see Newton Documentation)

virtual const PhyObject *	child () const
	Return the child object attached to this joint (see Newton Documentation) (const version)

virtual QVector< PhyDOF * >	dofs ()
	Return descriptions of DOF.

void	enable (bool b)
	enable/disable the joint

bool	isEnabled () const
	Return true if the joint is enabled.

virtual unsigned int	numDofs () const
	Return the number of DOF constrained by this joint.

virtual PhyObject *	parent ()
	Return the parent object; (NULL means an object attached to static world; see Netwon Documentation)

virtual const PhyObject *	parent () const
	Return the parent object; (NULL means an object attached to static world; see Netwon Documentation) (const version)

virtual void	postUpdate ()
	postUpdate the PhyJoint this method is called at each step of the world just after the physic update

virtual void	preUpdate ()
	preUpdate the PhyJoint this method is called at each step of the world just before the physic update

World *	world ()
	Return the World.

const World *	world () const
	Return the World (const version)

Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.

virtual	~Ownable ()
	Destructor.

const QList< Owned > &	owned () const
	Returns the list of objects owned by this one.

Ownable *	owner () const
	Returns the owner of this object.

void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object.

Protected Member Functions
void	createPrivateJoint ()
	Engine encapsulation.

virtual void	updateJoint (real timestep)

Protected Attributes
wVector	forceOnJoint
	The force applied to this joint.

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.

Protected Attributes inherited from PhyJoint
PhyObjectPrivate *	childpriv

PhyObject *	childv
	child object

QVector< PhyDOF * >	dofsv
	vector of DOF's joint

int	dofv
	number of DOF

bool	enabled
	true if is enabled, false otherwise

PhyObjectPrivate *	parentpriv

PhyObject *	parentv
	parent object

PhyJointPrivate *	priv
	Engine encapsulation.

WorldPrivate *	worldpriv

World *	worldv
	world

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects.

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.

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 105 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 110 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 115 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 120 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 125 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().

Member Function Documentation

wVector centre ( ) const

virtual

Return the centre of this joint in world coordinate.

Implements PhyJoint.

Definition at line 168 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 181 of file phyhinge.cpp.

References PhyJoint::priv.

Referenced by PhyHinge::PhyHinge().

wVector getForceOnJoint ( ) const

virtual

Returns the force applied to this joint.

Implements PhyJoint.

Definition at line 176 of file phyhinge.cpp.

References PhyHinge::forceOnJoint.

void updateJointInfo ( )

virtual

Update the Joint informations (each PhyDOF will be updated)

Implements PhyJoint.

Definition at line 188 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().

Referenced by PhyMarXbot::changedMatrix(), and PhyMarXbot::doKinematicSimulation().

Member Data Documentation

wVector forceOnJoint

protected

The force applied to this joint.

Definition at line 113 of file phyhinge.h.

Referenced by PhyHinge::getForceOnJoint().

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 109 of file phyhinge.h.

Referenced by PhyHinge::updateJointInfo().

wMatrix globalMatrixParent

mutableprotected

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 103 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 91 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 89 of file phyhinge.h.

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

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

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

WorldSim - 1.2.3

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation