this class represents a Universal joint. More...

#include <OgreNewt_BasicJoints.h>

Inheritance diagram for OgreNewt::Universal:

Public Types
typedef void(*	UniversalCallback) (Universal *me)
	custom universal callback function.

Public Member Functions
	Universal (const World world, const OgreNewt::Body child, const OgreNewt::Body *parent, const Ogre::Vector3 &pos, const Ogre::Vector3 &pin0, const Ogre::Vector3 &pin1)
	constructor

	~Universal ()
	destructor

Ogre::Radian	getJointAngle0 () const
	get the angle around pin0.

Ogre::Radian	getJointAngle1 () const
	get the angle around pin1.

Ogre::Real	getJointOmega0 () const
	get the rotational velocity around pin0.

Ogre::Real	getJointOmega1 () const
	get the rotational velocity around pin1.

Ogre::Vector3	getJointForce () const
	get the force on the joint.

void	setCallback (UniversalCallback callback)
	set a custom callback for controlling this joint.

void	setCallbackAccel (Ogre::Real accel, unsigned axis)
	set the acceleration around a particular pin.

void	setCallbackFrictionMin (Ogre::Real min, unsigned axis)
	set the minimum friction around a particular pin

void	setCallbackFrictionMax (Ogre::Real max, unsigned axis)
	set the maximum friction around a particular pin.

Ogre::Real	getCallbackTimestep () const
	get the current phsics timestep.

Ogre::Real	calculateStopAlpha0 (Ogre::Real angle) const
	calculate the acceleration neccesary to stop the joint at the specified angle on pin 0.

Ogre::Real	calculateStopAlpha1 (Ogre::Real angle) const
	calculate the acceleration neccesary to stop the joint at the specified angle on pin 1.

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	submitConstraint (Ogre::Real timeStep, int threadIndex)
	must be define for a functioning joint.

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

Static Protected Member Functions
static unsigned _CDECL	newtonCallback (const NewtonJoint universal, NewtonHingeSliderUpdateDesc desc)
	newton callback. used internally.

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

Protected Attributes
UniversalCallback	m_callback

NewtonHingeSliderUpdateDesc *	m_desc

unsigned	m_retval

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.

Detailed Description

this class represents a Universal joint.

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

Definition at line 329 of file OgreNewt_BasicJoints.h.

Member Typedef Documentation

◆ UniversalCallback

typedef void(* OgreNewt::Universal::UniversalCallback) (Universal *me)

custom universal callback function.

use the setCallback() function to assign your custom function to the joint.

Definition at line 338 of file OgreNewt_BasicJoints.h.

Constructor & Destructor Documentation

◆ Universal()

OgreNewt::Universal::Universal	(	const World *	world,
		const OgreNewt::Body *	child,
		const OgreNewt::Body *	parent,
		const Ogre::Vector3 &	pos,
		const Ogre::Vector3 &	pin0,
		const Ogre::Vector3 &	pin1
	)

constructor

Parameters

world	pointer to the OgreNewt::World
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)
pos	position of the joint in global space
pin0	direction of the first axis of rotation in global space
pin1	direction of the second axis of rotation in global space

Definition at line 928 of file OgreNewt_BasicJoints.cpp.

◆ ~Universal()

OgreNewt::Universal::~Universal ( )

destructor

Definition at line 950 of file OgreNewt_BasicJoints.cpp.

Member Function Documentation

◆ calculateStopAlpha0()

Ogre::Real OgreNewt::Universal::calculateStopAlpha0 ( Ogre::Real angle ) const

calculate the acceleration neccesary to stop the joint at the specified angle on pin 0.

For implementing joint limits. This command is only valid when used inside a custom callback.

Definition at line 1021 of file OgreNewt_BasicJoints.cpp.

◆ calculateStopAlpha1()

Ogre::Real OgreNewt::Universal::calculateStopAlpha1 ( Ogre::Real angle ) const

calculate the acceleration neccesary to stop the joint at the specified angle on pin 1.

For implementing joint limits. This command is only valid when used inside a custom callback.

Definition at line 1029 of file OgreNewt_BasicJoints.cpp.

◆ getCallbackTimestep()

Ogre::Real OgreNewt::Universal::getCallbackTimestep ( ) const

get the current phsics timestep.

Definition at line 1013 of file OgreNewt_BasicJoints.cpp.

◆ getJointAngle0()

Ogre::Radian OgreNewt::Universal::getJointAngle0 ( ) const

inline

get the angle around pin0.

Definition at line 355 of file OgreNewt_BasicJoints.h.

◆ getJointAngle1()

Ogre::Radian OgreNewt::Universal::getJointAngle1 ( ) const

inline

get the angle around pin1.

Definition at line 358 of file OgreNewt_BasicJoints.h.

◆ getJointForce()

Ogre::Vector3 OgreNewt::Universal::getJointForce ( ) const

get the force on the joint.

Definition at line 954 of file OgreNewt_BasicJoints.cpp.

◆ getJointOmega0()

Ogre::Real OgreNewt::Universal::getJointOmega0 ( ) const

inline

get the rotational velocity around pin0.

Definition at line 361 of file OgreNewt_BasicJoints.h.

◆ getJointOmega1()

Ogre::Real OgreNewt::Universal::getJointOmega1 ( ) const

inline

get the rotational velocity around pin1.

Definition at line 364 of file OgreNewt_BasicJoints.h.

◆ newtonCallback()

unsigned _CDECL OgreNewt::Universal::newtonCallback	(	const NewtonJoint *	universal,
		NewtonHingeSliderUpdateDesc *	desc
	)

staticprotected

newton callback. used internally.

Definition at line 963 of file OgreNewt_BasicJoints.cpp.

◆ setCallback()

void OgreNewt::Universal::setCallback ( UniversalCallback callback )

inline

set a custom callback for controlling this joint.

Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that accepts a pointer to a OgreNewt::BasicJoints::Universal as the single parameter. this function will be called automatically every time you upate the World.

Definition at line 375 of file OgreNewt_BasicJoints.h.

◆ setCallbackAccel()

void OgreNewt::Universal::setCallbackAccel	(	Ogre::Real	accel,
		unsigned	axis
	)

set the acceleration around a particular pin.

Definition at line 980 of file OgreNewt_BasicJoints.cpp.

◆ setCallbackFrictionMax()

void OgreNewt::Universal::setCallbackFrictionMax	(	Ogre::Real	max,
		unsigned	axis
	)

set the maximum friction around a particular pin.

Definition at line 991 of file OgreNewt_BasicJoints.cpp.

◆ setCallbackFrictionMin()

void OgreNewt::Universal::setCallbackFrictionMin	(	Ogre::Real	min,
		unsigned	axis
	)

set the minimum friction around a particular pin

Definition at line 1002 of file OgreNewt_BasicJoints.cpp.

Member Data Documentation

◆ m_callback

UniversalCallback OgreNewt::Universal::m_callback

protected

Definition at line 429 of file OgreNewt_BasicJoints.h.

◆ m_desc

NewtonHingeSliderUpdateDesc* OgreNewt::Universal::m_desc

protected

Definition at line 430 of file OgreNewt_BasicJoints.h.

◆ m_retval

unsigned OgreNewt::Universal::m_retval

protected

Definition at line 432 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

Project

General

Profile

Scol » SO3Engine

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ UniversalCallback

Constructor & Destructor Documentation

◆ Universal()

◆ ~Universal()

Member Function Documentation

◆ calculateStopAlpha0()

◆ calculateStopAlpha1()

◆ getCallbackTimestep()

◆ getJointAngle0()

◆ getJointAngle1()

◆ getJointForce()

◆ getJointOmega0()

◆ getJointOmega1()

◆ newtonCallback()

◆ setCallback()

◆ setCallbackAccel()

◆ setCallbackFrictionMax()

◆ setCallbackFrictionMin()

Member Data Documentation

◆ m_callback

◆ m_desc

◆ m_retval