WorldSim - 1.2.3

Utilities Configuration GA
NNFW WorldSim Total 99% Experiments
phyhinge.h
1 /********************************************************************************
2  * WorldSim -- library for robot simulations *
3  * Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it> *
4  * *
5  * This program is free software; you can redistribute it and/or modify *
6  * it under the terms of the GNU General Public License as published by *
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13  * GNU General Public License for more details. *
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17  * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA *
18  ********************************************************************************/
19 
20 #ifndef PHYHINGE_H
21 #define PHYHINGE_H
22 
23 #include "worldsimconfig.h"
24 #include "world.h"
25 #include "phyobject.h"
26 #include "wvector.h"
27 #include "wmatrix.h"
28 #include "wquaternion.h"
29 #include "phyjoint.h"
30 
31 namespace farsa {
32 
43 class FARSA_WSIM_API PhyHinge : public PhyJoint {
44 public:
55  PhyHinge( const wVector& axis, const wVector& centre, real startAngle, PhyObject* parent, PhyObject* child, bool cp=true );
56 
58  PhyHinge( const wVector& axis, const wVector& centre, PhyObject* parent, PhyObject* child, bool cp=true );
59 
61  PhyHinge( const wVector& axis, real startAngle, PhyObject* parent, PhyObject* child, bool cp=true );
62 
64  PhyHinge( const wVector& axis, PhyObject* parent, PhyObject* child, bool cp=true );
65 
69  PhyHinge( const wVector& axis, const wVector& centre, const wVector& x_axis, PhyObject* parent, PhyObject* child, bool cp=true );
70 
72  virtual void updateJointInfo();
73 
75  virtual wVector centre() const;
76 
79  virtual wVector getForceOnJoint() const;
80 
81 protected:
89  wMatrix localMatrixParent;
91  wMatrix localMatrixChild;
92 
103  mutable wMatrix globalMatrixParent;
109  wMatrix globalMatrixChild;
110 
113  wVector forceOnJoint;
114 
116  void createPrivateJoint();
117  virtual void updateJoint( real timestep );
118 
119 private:
121  void construct( const wVector& axis, const wVector& centre, real startAngle, PhyObject* parent, PhyObject* child, bool cp );
122 
123  PhyDOF* dof;
124 
125 };
126 
127 } // end namespace farsa
128 
129 #endif