vpRJoint Class Reference
Revolute joint. More...
#include <vpRJoint.h>
Public Member Functions | |
| void | SetAxis (const Vec3 &) |
| void | SetAngle (const scalar &) |
| void | SetVelocity (const scalar &) |
| void | SetAcceleration (const scalar &) |
| void | SetTorque (const scalar &) |
| void | AddTorque (const scalar &) |
| void | SetInitialAngle (const scalar &) |
| void | SetElasticity (const scalar &) |
| void | SetDamping (const scalar &) |
| void | SetUpperLimit (const scalar &) |
| void | SetLowerLimit (const scalar &) |
| void | SetRestitution (const scalar &) |
| Vec3 | GetAxis (void) const |
| scalar | GetAngle (void) const |
| scalar | GetVelocity (void) const |
| scalar | GetAcceleration (void) const |
| scalar | GetTorque (void) const |
| scalar | GetInitialAngle (void) const |
| const scalar & | GetElasticity (void) const |
| const scalar & | GetDamping (void) const |
| scalar | GetUpperLimit (void) const |
| scalar | GetLowerLimit (void) const |
| void | DisableUpperLimit (void) |
| void | DisableLowerLimit (void) |
| bool | IsEnabledUpperLimit (void) const |
| bool | IsEnabledLowerLimit (void) const |
| virtual int | GetDOF (void) const |
| virtual scalar | GetNormalForce (void) const |
| virtual scalar | GetNormalTorque (void) const |
Detailed Description
vpRJoint is a class to model a revolute joint. Connected bodies can rotate relatively about a rotational axis.
- Examples:
Member Function Documentation
| VP_INLINE void vpRJoint::SetAxis | ( | const Vec3 & | d | ) |
set a rotational axis. The axis is Vec3(0, 0, 1) by default.
- Examples:
- pendulum.cpp.
| VP_INLINE void vpRJoint::SetAngle | ( | const scalar & | x | ) |
set an angle of the joint variable.
- Examples:
- pendulum.cpp.
| VP_INLINE void vpRJoint::SetVelocity | ( | const scalar & | x | ) |
set an angular velocity of the joint variable.
| VP_INLINE void vpRJoint::SetAcceleration | ( | const scalar & | x | ) |
set an angular acceleration of the joint variable.
| VP_INLINE void vpRJoint::SetTorque | ( | const scalar & | x | ) |
set a torque of the joint. The torque will be reset after every simulation step
| VP_INLINE void vpRJoint::AddTorque | ( | const scalar & | x | ) |
add a torque to the joint. The torque will be reset after every simulation step
| VP_INLINE void vpRJoint::SetInitialAngle | ( | const scalar & | x | ) |
set an initial angle of the joint variable.
| VP_INLINE void vpRJoint::SetElasticity | ( | const scalar & | x | ) |
set an elasticity of the joint variable.
| VP_INLINE void vpRJoint::SetDamping | ( | const scalar & | x | ) |
set a damping parameter of the joint variable.
| VP_INLINE void vpRJoint::SetUpperLimit | ( | const scalar & | x | ) |
set an upper joint limit.
| VP_INLINE void vpRJoint::SetLowerLimit | ( | const scalar & | x | ) |
set an upper joint limit.
| VP_INLINE void vpRJoint::SetRestitution | ( | const scalar & | e | ) |
set a restitution.
| VP_INLINE Vec3 vpRJoint::GetAxis | ( | void | ) | const |
get a rotational axis.
| VP_INLINE scalar vpRJoint::GetAngle | ( | void | ) | const |
get an angle of the joint variable.
| VP_INLINE scalar vpRJoint::GetVelocity | ( | void | ) | const |
get an anglular velocity of the joint variable.
| VP_INLINE scalar vpRJoint::GetAcceleration | ( | void | ) | const |
get an anglular acceleration of the joint variable.
| VP_INLINE scalar vpRJoint::GetTorque | ( | void | ) | const |
get a torque of the joint.
| VP_INLINE scalar vpRJoint::GetInitialAngle | ( | void | ) | const |
get an initial angle of the joint variable.
| VP_INLINE const scalar & vpRJoint::GetElasticity | ( | void | ) | const |
get an elasticity of the joint variable.
| VP_INLINE const scalar & vpRJoint::GetDamping | ( | void | ) | const |
get a damping paramter of the joint variable.
| VP_INLINE scalar vpRJoint::GetUpperLimit | ( | void | ) | const |
get a upper joint limit.
| VP_INLINE scalar vpRJoint::GetLowerLimit | ( | void | ) | const |
get an lower joint limit.
| VP_INLINE void vpRJoint::DisableUpperLimit | ( | void | ) |
disable upper joint limit.
| VP_INLINE void vpRJoint::DisableLowerLimit | ( | void | ) |
disable lower joint limit.
| VP_INLINE bool vpRJoint::IsEnabledUpperLimit | ( | void | ) | const |
return whether this joint is set to have upper limit
| VP_INLINE bool vpRJoint::IsEnabledLowerLimit | ( | void | ) | const |
return whether this joint is set to have lower limit
| VP_INLINE int vpRJoint::GetDOF | ( | void | ) | const [virtual] |
return the degrees of freedom.
Implements vpJoint.
| VP_INLINE scalar vpRJoint::GetNormalForce | ( | void | ) | const [virtual] |
get a magnitude of normal force applied to the joint.
Implements vpJoint.
| VP_INLINE scalar vpRJoint::GetNormalTorque | ( | void | ) | const [virtual] |
get a magnitude of normal torque applied to the joint.
Implements vpJoint.
