Inheritance diagram for PhyUniversal:

Public Member Functions
	PhyUniversal (const wVector &firstAxis, const wVector &secondAxis, const wVector &centre, PhyObject parent, PhyObject child, bool cp=true)
	Constructor.

virtual wVector	centre ()
	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 wVector	centre () const =0
	Return the centre of this joint in world coordinate.

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

PhyUniversal class.

\

Motivation: Universal Joint.

Description: This joint add two degree of freedom around two axis :-)

Warnings: Warnings

Definition at line 43 of file phyuniversal.h.

Constructor & Destructor Documentation

PhyUniversal	(	const wVector &	firstAxis,
		const wVector &	secondAxis,
		const wVector &	centre,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = `true`
	)

Constructor.

Parameters

firstAxis	is the axis of rotation (respect to parent object frame)
secondAxis	is the second axis of rotation (must be ortogonal respect to firstAxis)
centre	is the center of rotation (respect to parent object frame)
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 the first axis and the Y axis is aligned to second Axis