hinge joint. More...

#include <OgreNewt_BasicJoints.h>

Inheritance diagram for OgreNewt::Hinge:

Public Member Functions
	Hinge (const OgreNewt::Body child, const OgreNewt::Body parent, const Ogre::Vector3 &pos, const Ogre::Vector3 &pin)
	constructor

	~Hinge ()
	destructor

void	enableLimits (bool state)
	enable hinge limits.

void	enableMotor (bool state)

void	setLimits (Ogre::Radian minAngle, Ogre::Radian maxAngle)
	set minimum and maximum hinge limits.

Ogre::Radian	getJointAngle () const
	get the relative joint angle around the hinge pin.

Ogre::Vector3	getJointForce ()
	retrieve the current joint force.

Ogre::Radian	getJointAngularVelocity () const
	get the relative joint angle around the hinge pin.

Ogre::Vector3	getJointPin () const
	get the joint pin in global space

void	setDesiredOmega (Ogre::Radian omega, Ogre::Real strength=0.5f)
	sets desired rotational velocity of the joint

void	setDesiredAngle (Ogre::Radian angle, Ogre::Real minFriction=0, Ogre::Real maxFriction=0)
	set desired angle and optionally minimum and maximum friction

void	setTorque (Ogre::Real torque)
	sets hinge torque

void	setBrake (Ogre::Real maxForce=0)
	apply hinge brake for one frame.

void	clearConstraints ()
	clears the motor constraints

virtual void	submitConstraint (Ogre::Real timestep, int threadindex)
	must be define for a functioning joint.

Public Member Functions inherited from OgreNewt::Joint
	Joint ()
	constructor

virtual	~Joint ()
	destructor

Body *	getBody0 () const
	get the pointer to the first rigid body

Body *	getBody1 () const
	get the pointer to the first rigid body

const OgreNewt::World *	getWorld ()
	get the pointer to the world

virtual void	showDebugData (Ogre::SceneNode *debugRootNode)
	show joint visual debugging data

int	getCollisionState () const
	returns collision state

void	setCollisionState (int state) const
	sets the collision state

Ogre::Real	getStiffness () const
	get joint stiffness

void	setStiffness (Ogre::Real stiffness) const
	set joint stiffness

Protected Types
enum	ConstraintType { CONSTRAINT_NONE , CONSTRAINT_OMEGA , CONSTRAINT_ANGLE , CONSTRAINT_BRAKE }

Protected Attributes
ConstraintType	m_constraintType

ConstraintType	m_lastConstraintType

Ogre::Radian	m_desiredOmega

Ogre::Radian	m_desiredAngle

bool	m_useLimits

bool	m_useMotor

Ogre::Radian	m_minAngle

Ogre::Radian	m_maxAngle

Ogre::Real	m_motorStrength

Ogre::Real	m_motorTorque

Ogre::Real	m_motorMinFriction

Ogre::Real	m_motorMaxFriction

Ogre::Real	m_brakeMaxForce

bool	m_torqueOn

Protected Attributes inherited from OgreNewt::Joint
CustomJoint *	m_joint

Additional Inherited Members
Protected Member Functions inherited from OgreNewt::Joint
void	addLinearRow (const Ogre::Vector3 &pt0, const Ogre::Vector3 &pt1, const Ogre::Vector3 &dir) const

void	addAngularRow (Ogre::Radian relativeAngleError, const Ogre::Vector3 &dir) const

void	addGeneralRow (const Ogre::Vector3 &linear0, const Ogre::Vector3 &angular0, const Ogre::Vector3 &linear1, const Ogre::Vector3 &angular1) const

void	setRowMinimumFriction (Ogre::Real friction) const

void	setRowMaximumFriction (Ogre::Real friction) const

void	setRowStiffness (Ogre::Real stiffness) const

void	setRowAcceleration (Ogre::Real accel) const

void	setRowSpringDamper (Ogre::Real springK, Ogre::Real springD) const

void	SetSupportJoint (CustomJoint *supportJoint)
	SetSupportJoint.

CustomJoint *	GetSupportJoint () const
	GetSupportJoint.

Static Protected Member Functions inherited from OgreNewt::Joint
static void _CDECL	destructorCallback (const CustomJoint *me)
	joint destructor callback glue

static void _CDECL	submitConstraintCallback (const CustomJoint *me, dFloat timestep, int threadIndex)
	submintContraint

Detailed Description

hinge joint.

simple hinge joint. implement motors/limits through a callback.

Definition at line 144 of file OgreNewt_BasicJoints.h.

Member Enumeration Documentation

◆ ConstraintType

enum OgreNewt::Hinge::ConstraintType

protected

Enumerator
CONSTRAINT_NONE
CONSTRAINT_OMEGA
CONSTRAINT_ANGLE
CONSTRAINT_BRAKE

Definition at line 207 of file OgreNewt_BasicJoints.h.

Constructor & Destructor Documentation

◆ Hinge()

OgreNewt::Hinge::Hinge	(	const OgreNewt::Body *	child,
		const OgreNewt::Body *	parent,
		const Ogre::Vector3 &	pos,
		const Ogre::Vector3 &	pin
	)

constructor

Parameters

child	pointer to the child rigid body.
parent	pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
pin	direction of the joint pin in global space

Definition at line 278 of file OgreNewt_BasicJoints.cpp.

◆ ~Hinge()

OgreNewt::Hinge::~Hinge ( )

destructor

Definition at line 306 of file OgreNewt_BasicJoints.cpp.

Member Function Documentation

◆ clearConstraints()

void OgreNewt::Hinge::clearConstraints ( )

inline

clears the motor constraints

Definition at line 202 of file OgreNewt_BasicJoints.h.

◆ enableLimits()

void OgreNewt::Hinge::enableLimits ( bool state )

enable hinge limits.

Definition at line 311 of file OgreNewt_BasicJoints.cpp.

◆ enableMotor()

void OgreNewt::Hinge::enableMotor ( bool state )

Definition at line 320 of file OgreNewt_BasicJoints.cpp.

◆ getJointAngle()

Ogre::Radian OgreNewt::Hinge::getJointAngle ( ) const

get the relative joint angle around the hinge pin.

Definition at line 415 of file OgreNewt_BasicJoints.cpp.

◆ getJointAngularVelocity()

Ogre::Radian OgreNewt::Hinge::getJointAngularVelocity ( ) const

get the relative joint angle around the hinge pin.

Definition at line 435 of file OgreNewt_BasicJoints.cpp.

◆ getJointForce()

Ogre::Vector3 OgreNewt::Hinge::getJointForce ( )

retrieve the current joint force.

This can be used to find the "stress" on the joint. you can do special effects like break the joint if the force exceedes some value, etc.

Definition at line 421 of file OgreNewt_BasicJoints.cpp.

◆ getJointPin()

Ogre::Vector3 OgreNewt::Hinge::getJointPin ( ) const

get the joint pin in global space

Definition at line 443 of file OgreNewt_BasicJoints.cpp.

◆ setBrake()

void OgreNewt::Hinge::setBrake ( Ogre::Real maxForce = 0 )

apply hinge brake for one frame.

Definition at line 402 of file OgreNewt_BasicJoints.cpp.

◆ setDesiredAngle()

void OgreNewt::Hinge::setDesiredAngle	(	Ogre::Radian	angle,
		Ogre::Real	minFriction = `0`,
		Ogre::Real	maxFriction = `0`
	)

set desired angle and optionally minimum and maximum friction

Definition at line 378 of file OgreNewt_BasicJoints.cpp.

◆ setDesiredOmega()

void OgreNewt::Hinge::setDesiredOmega	(	Ogre::Radian	omega,
		Ogre::Real	strength = `0.5f`
	)

sets desired rotational velocity of the joint

Definition at line 345 of file OgreNewt_BasicJoints.cpp.

◆ setLimits()

void OgreNewt::Hinge::setLimits	(	Ogre::Radian	minAngle,
		Ogre::Radian	maxAngle
	)

set minimum and maximum hinge limits.

Definition at line 330 of file OgreNewt_BasicJoints.cpp.

◆ setTorque()

void OgreNewt::Hinge::setTorque ( Ogre::Real torque )

sets hinge torque

torque can be applied at the same time as other constraints (omega/angle/brake)

Parameters

torque torque to apply

Definition at line 364 of file OgreNewt_BasicJoints.cpp.

◆ submitConstraint()

void OgreNewt::Hinge::submitConstraint	(	Ogre::Real	timeStep,
		int	threadIndex
	)

virtual

must be define for a functioning joint.

Reimplemented from OgreNewt::Joint.

Definition at line 451 of file OgreNewt_BasicJoints.cpp.

Member Data Documentation

◆ m_brakeMaxForce

Ogre::Real OgreNewt::Hinge::m_brakeMaxForce

protected

Definition at line 224 of file OgreNewt_BasicJoints.h.

◆ m_constraintType

ConstraintType OgreNewt::Hinge::m_constraintType

protected

Definition at line 209 of file OgreNewt_BasicJoints.h.

◆ m_desiredAngle

Ogre::Radian OgreNewt::Hinge::m_desiredAngle

protected

Definition at line 213 of file OgreNewt_BasicJoints.h.

◆ m_desiredOmega

Ogre::Radian OgreNewt::Hinge::m_desiredOmega

protected

Definition at line 212 of file OgreNewt_BasicJoints.h.

◆ m_lastConstraintType

ConstraintType OgreNewt::Hinge::m_lastConstraintType

protected

Definition at line 210 of file OgreNewt_BasicJoints.h.

◆ m_maxAngle

Ogre::Radian OgreNewt::Hinge::m_maxAngle

protected

Definition at line 218 of file OgreNewt_BasicJoints.h.

◆ m_minAngle

Ogre::Radian OgreNewt::Hinge::m_minAngle

protected

Definition at line 217 of file OgreNewt_BasicJoints.h.

◆ m_motorMaxFriction

Ogre::Real OgreNewt::Hinge::m_motorMaxFriction

protected

Definition at line 223 of file OgreNewt_BasicJoints.h.

◆ m_motorMinFriction

Ogre::Real OgreNewt::Hinge::m_motorMinFriction

protected

Definition at line 222 of file OgreNewt_BasicJoints.h.

◆ m_motorStrength

Ogre::Real OgreNewt::Hinge::m_motorStrength

protected

Definition at line 220 of file OgreNewt_BasicJoints.h.

◆ m_motorTorque

Ogre::Real OgreNewt::Hinge::m_motorTorque

protected

Definition at line 221 of file OgreNewt_BasicJoints.h.

◆ m_torqueOn

bool OgreNewt::Hinge::m_torqueOn

protected

Definition at line 226 of file OgreNewt_BasicJoints.h.

◆ m_useLimits

bool OgreNewt::Hinge::m_useLimits

protected

Definition at line 215 of file OgreNewt_BasicJoints.h.

◆ m_useMotor

bool OgreNewt::Hinge::m_useMotor

protected

Definition at line 216 of file OgreNewt_BasicJoints.h.

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

include/External/ogrenewt/OgreNewt_BasicJoints.h
src/External/ogrenewt/OgreNewt_BasicJoints.cpp

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Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ConstraintType

Constructor & Destructor Documentation

◆ Hinge()

◆ ~Hinge()

Member Function Documentation

◆ clearConstraints()

◆ enableLimits()

◆ enableMotor()

◆ getJointAngle()

◆ getJointAngularVelocity()

◆ getJointForce()

◆ getJointPin()

◆ setBrake()

◆ setDesiredAngle()

◆ setDesiredOmega()

◆ setLimits()

◆ setTorque()

◆ submitConstraint()

Member Data Documentation

◆ m_brakeMaxForce

◆ m_constraintType

◆ m_desiredAngle

◆ m_desiredOmega

◆ m_lastConstraintType

◆ m_maxAngle

◆ m_minAngle

◆ m_motorMaxFriction

◆ m_motorMinFriction

◆ m_motorStrength

◆ m_motorTorque

◆ m_torqueOn

◆ m_useLimits

◆ m_useMotor