Joint Class Reference

#include <Joints.h>

Inherited by BallJoint, Hinge2Joint, HingeJoint, SliderJoint, and UniversalJoint.

Collaboration diagram for Joint:

Collaboration graph
[legend]

List of all members.


Public Member Functions

 Joint ()
 Joint (dWorldID world)
virtual ~Joint ()
virtual void setMainEntity (int id)
virtual void setEntities (int id1, int id2)
virtual void getEntities (int &id1, int &id2)
virtual void setWorld (dWorldID world)
virtual void setJointInteractionClass (JointInteraction *jointInteraction)
virtual void getMemberValue (std::string type, void *result)=0
virtual void setMemberValue (std::string type, void *source)=0
virtual void debugOutput ()
void attach ()
void detach ()
void setId (int id)
int getId ()
void setActive (int isActive)
bool isActive ()
void addConstraint (Constraint *constraint)
void checkConstraints ()

Protected Member Functions

virtual void attachJoint (dBodyID obj1, dBodyID obj2)=0
virtual void detachJoint ()=0

Protected Attributes

int jointID
int entityID1
int entityID2
bool alreadyAttached
bool active
dWorldID world
dJointID joint
Entity * mainEntity
JointInteraction * jointInteraction
std::vector< Constraint * > constraints

Detailed Description

This class is the super-class of all Joints. It contains all general methods and fields. Every new Joint simply has to implement the methods attachJoint, detachJoint and getMemberValue.

Constructor & Destructor Documentation

Joint::Joint (  ) 

Joint::Joint ( dWorldID  world  ) 

Joint::~Joint (  )  [virtual]

Member Function Documentation

void Joint::addConstraint ( Constraint *  constraint  ) 

This method adds a Constraint to the constraint-list.

Parameters:
constraint new Constraint to add

void Joint::attach (  ) 

This method is called if the Joint should be attached. It gets the ODE-bodies from the JointInteraction-class and then either attaches the Joint by calling the virtual method attachJoint or attaches a fixed ODE-joint if the joint is not active.

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

Implemented in HingeJoint, BallJoint, SliderJoint, UniversalJoint, and Hinge2Joint.

void Joint::checkConstraints (  ) 

This method checks all Constraints in the constraint-list.

virtual void Joint::debugOutput (  )  [inline, virtual]

void Joint::detach (  ) 

This method is called if the Joint should be detached. It first calls the virtual method detachJoint, so that each type of Joint can store relevant information (e.g axis-angles) before the joint is deleted.

virtual void Joint::detachJoint (  )  [protected, pure virtual]

Implemented in HingeJoint, BallJoint, SliderJoint, UniversalJoint, and Hinge2Joint.

void Joint::getEntities ( int &  id1,
int &  id2 
) [virtual]

This method returns the IDs of the connected objects.

Parameters:
id1,id2 IDs of the connected EntityTransforms

int Joint::getId (  ) 

This method returns the ID of the joint.

Returns:
the Joint's ID

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

Implemented in HingeJoint, BallJoint, SliderJoint, UniversalJoint, and Hinge2Joint.

bool Joint::isActive (  ) 

This method returns if the Joint is active.

Returns:
true, if the Joint is active.

void Joint::setActive ( int  isActive  ) 

This method is used for activating or deactivating the Joint. If the Joint was inactive and should be activated the fixed ODE-joint is removed and the virtual attachJoint-method is called. If the Joint was active and should be deactivated the virtual detachJoint-method is called and then a fixed ODE-joint is created and attached to the bodies.

Parameters:
isActive 0 .. not active anything else .. active

void Joint::setEntities ( int  id1,
int  id2 
) [virtual]

This method sets the IDs of the EntityTransforms which should be connected by the Joint. If one ID is 0 it meens, that the other EntityTransform is connected to the fixed world.

Parameters:
id1,id2 IDs of the EntityTransforms which should be connected

void Joint::setId ( int  id  ) 

This method sets the ID of the Joint

Parameters:
id the Joint's ID

void Joint::setJointInteractionClass ( JointInteraction *  jointInteraction  )  [virtual]

void Joint::setMainEntity ( int  id  )  [virtual]

This method sets the main EntityTransform, where the Joint should be attached to.

Parameters:
id 1 for the first EntityTransform, 2 for the second one

Reimplemented in HingeJoint.

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

Implemented in HingeJoint, BallJoint, SliderJoint, UniversalJoint, and Hinge2Joint.

void Joint::setWorld ( dWorldID  world  )  [virtual]

This method sets the ODE-worldID. This is needed for the creation of ODE-joints.

Parameters:
world ODE-worldID

Member Data Documentation

bool Joint::active [protected]

bool Joint::alreadyAttached [protected]

std::vector<Constraint*> Joint::constraints [protected]

int Joint::entityID1 [protected]

int Joint::entityID2 [protected]

dJointID Joint::joint [protected]

int Joint::jointID [protected]

JointInteraction* Joint::jointInteraction [protected]

Entity* Joint::mainEntity [protected]

dWorldID Joint::world [protected]

The documentation for this class was generated from the following files:
Generated on Wed Oct 20 16:11:57 2010 for inVRs by doxygen 1.5.8