Hinge2Joint Class Reference

#include <Joints.h>

Inherits Joint.

Collaboration diagram for Hinge2Joint:

[legend]

List of all members.

Public Member Functions
	Hinge2Joint ()
virtual	~Hinge2Joint ()
void	setAnchor (float anchorX, float anchorY, float anchorZ)
void	setAxis1 (float axisX, float axisY, float axisZ)
void	setAxis2 (float axisX, float axisY, float axisZ)
virtual void	getMemberValue (std::string type, void *result)
virtual void	setMemberValue (std::string type, void *source)
Protected Member Functions
virtual void	attachJoint (dBodyID obj1, dBodyID obj2)
virtual void	detachJoint ()
Protected Attributes
gmtl::Vec3f	anchor
gmtl::Vec3f	axis1
gmtl::Vec3f	axis2
bool	usedHelperJoint
dBodyID	helperBody
dJointID	helperJoint

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Detailed Description

This class represents a joint which is built out of 2 HingeJoints (which don't have to be perpendicular). It can be defined by setting the Anchor and the two hinge-Axes. The members helperBody and helperJoint are needed to avoid problems with ODE (v0.5), when a Hinge2-Joint is connected to the static environment. Since ODE always throws a Segmentation Fault in this case i added a helperBody which is put between the Hinge2Joint and the fixed environment.

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Constructor & Destructor Documentation

Hinge2Joint::Hinge2Joint

(

)

virtual Hinge2Joint::~Hinge2Joint

(

)

[inline, virtual]

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Member Function Documentation

void Hinge2Joint::attachJoint	(	dBodyID	obj1,
		dBodyID	obj2
	)			[protected, virtual]

This method is called if the joint should be attached. It creates the ODE-joint, calculates the current anchor-position and axis-orientation and attaches the Joint.

Parameters:

	obj1	first ODE-object to attach with
	obj2	second ODE-object to attach with

Implements Joint.

void Hinge2Joint::detachJoint

(

)

[protected, virtual]

This method is called if the joint should be detached. It stores the actual Joint-axis, which can change their orientation at Hinge2Joints, and destroys the helper body and joint.

Implements Joint.

void Hinge2Joint::getMemberValue	(	std::string	type,
		void *	result
	)			[virtual]

This method copies the value of the field with the passed name to the result-pointer. It is a little helper to avoid type-casts when accessing joint-pointers.

Parameters:

	type	name of the field
	result	destination where the value should be stored

Implements Joint.

void Hinge2Joint::setAnchor	(	float	anchorX,
		float	anchorY,
		float	anchorZ
	)

This method sets the Anchor of the Joint in OBJECT-COORDINATES!!! This means that the Anchor is relative to the position of the main EntityTransform. Take care that the Anchor-offset is also scaled by the scale-Value of the EntityTransform. The reason for using object coordinates is because modelers can easily read the offset out of the modelling application.

Parameters:

	anchorX	X-position of the Anchor
	anchorY	Y-position of the Anchor
	anchorZ	Z-position of the Anchor

void Hinge2Joint::setAxis1	(	float	axisX,
		float	axisY,
		float	axisZ
	)

This method sets the first Axis of the Joint in OBJECT-COORDINATES!!! This means that the axis is rotated by the rotation-value of the main EntityTransform.

Parameters:

	axisX	X-value of the Axis
	axisY	Y-value of the Axis
	axisZ	Z-value of the Axis

void Hinge2Joint::setAxis2	(	float	axisX,
		float	axisY,
		float	axisZ
	)

This method sets the second Axis of the Joint in OBJECT-COORDINATES!!! This means that the axis is rotated by the rotation-value of the main EntityTransform.

Parameters:

	axisX	X-value of the Axis
	axisY	Y-value of the Axis
	axisZ	Z-value of the Axis

void Hinge2Joint::setMemberValue	(	std::string	type,
		void *	source
	)			[virtual]

Implements Joint.

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Member Data Documentation

gmtl::Vec3f Hinge2Joint::anchor [protected]

gmtl::Vec3f Hinge2Joint::axis1 [protected]

gmtl::Vec3f Hinge2Joint::axis2 [protected]

dBodyID Hinge2Joint::helperBody [protected]

dJointID Hinge2Joint::helperJoint [protected]

bool Hinge2Joint::usedHelperJoint [protected]

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

• src/inVRs/Modules/JointInteraction/Joints.h
• src/inVRs/Modules/JointInteraction/Joints.cpp