A fixed joint constrains all translations and rotations. More...
#include <dynJoint.h>
Public Member Functions | |
| virtual void | buildConstraints (double *Nu, double *eps, int numBodies, std::map< Body *, int > &islandIndices, int &ncn) |
| FixedDynJoint (DynamicBody *pLink, DynamicBody *nLink, const transf &pFrame=transf::IDENTITY, const transf &nFrame=transf::IDENTITY) | |
| virtual void | getConstraints (char *c) |
| virtual transf | getNextTrans () |
| virtual int | getNumConstraints () |
| virtual transf | getPrevTrans () |
| virtual DynamicJointT | getType () |
| Returns the type of this dynamic joint. | |
| virtual void | updateValues () |
A fixed joint constrains all translations and rotations.
A fixed joint completely constrains the relative motion between the two connected links. Or if the prevLink is NULL, it fixes the position of the nextLink to its current location in the world.
Definition at line 136 of file dynJoint.h.
| FixedDynJoint::FixedDynJoint | ( | DynamicBody * | pLink, | |
| DynamicBody * | nLink, | |||
| const transf & | pFrame = transf::IDENTITY, |
|||
| const transf & | nFrame = transf::IDENTITY | |||
| ) | [inline] |
Initializes the class with pointers and transforms of the two links connected to this joint.
Definition at line 142 of file dynJoint.h.
| void FixedDynJoint::buildConstraints | ( | double * | Nu, | |
| double * | eps, | |||
| int | numBodies, | |||
| std::map< Body *, int > & | islandIndices, | |||
| int & | ncn | |||
| ) | [virtual] |
If there is no previous link there is a simpler way for enforcing constraints by just working in world coordinate system without bothering with joint coordinate system.
Reimplemented from DynJoint.
Definition at line 181 of file dynJoint.cpp.
| virtual void FixedDynJoint::getConstraints | ( | char * | c | ) | [inline, virtual] |
This joint enforces all 6 constraints
Implements DynJoint.
Definition at line 150 of file dynJoint.h.
| virtual transf FixedDynJoint::getNextTrans | ( | ) | [inline, virtual] |
Returns the transform from the next link to the coordinate system of this joint
Implements DynJoint.
Definition at line 159 of file dynJoint.h.
| virtual int FixedDynJoint::getNumConstraints | ( | ) | [inline, virtual] |
Returns the number of constrained DOF's for this joint.
Implements DynJoint.
Definition at line 147 of file dynJoint.h.
| virtual transf FixedDynJoint::getPrevTrans | ( | ) | [inline, virtual] |
Returns the transform from the previous link to the coordinate system of this joint
Implements DynJoint.
Definition at line 161 of file dynJoint.h.
| virtual DynamicJointT FixedDynJoint::getType | ( | ) | [inline, virtual] |
Returns the type of this dynamic joint.
Implements DynJoint.
Definition at line 163 of file dynJoint.h.
| void FixedDynJoint::updateValues | ( | ) | [virtual] |
With a fixed joint, there are no unconstrained DOF values to update. This is a stub.
Implements DynJoint.
Definition at line 172 of file dynJoint.cpp.
