SoJointSlider Class Reference
[libipsa classes, Joint Classes]

Defines a slider joint for linear movement. More...

#include <SoJointSlider.h>

Inheritance diagram for SoJointSlider:

Collaboration diagram for SoJointSlider:

List of all members.

Public Member Functions

SoSFFloat getPosition ()

SoSFFloat getPositionRate ()

virtual void setForce (dReal force1=0.0f)

virtual void setParams ()

SoJointSlider (const SbString &BodyOne="", const SbString &BodyTwo="", const SbString &nodeName="")

Static Public Member Functions

static void initClass ()

Public Attributes

SoSFFloat Bounce

SoSFFloat CFM

SoSFFloat FudgeFactor

SoSFFloat HiStop

SoSFFloat LoStop

SoSFFloat MaxForce

SoSFVec3f soAxis

SoSFFloat soForce

SoSFFloat StopCFM

SoSFFloat StopERP

SoSFFloat Velocity

Protected Member Functions

virtual void createOdeJoint (const dWorldID soWorldId)

virtual SoNode * createVisualisation ()

virtual void updateOdeJointProperties (const SbMatrix &modelMatrix)

Protected Attributes

float initForce

float initMaxForce

float initVelocity

Private Member Functions

SO_KIT_HEADER (SoJointSlider)

Detailed Description

Defines a slider joint for linear movement.

These joints allow a wide variety of movement, but not much distance.

A slider joint

Definition at line 32 of file SoJointSlider.h.

Constructor & Destructor Documentation

SoJointSlider::SoJointSlider	(	const SbString &	BodyOne = `""`,
		const SbString &	BodyTwo = `""`,
		const SbString &	nodeName = `""`
	)

The parameterized constructor of SoJointSlider.

Parameters:

	BodyOne	name of the first body to connect with (default = "")
	BodyTwo	name of the second body to connect with (default = "")
	nodeName	name of the node in the Inventor scenegraph

Definition at line 126 of file SoJointSlider.cpp.

References Bounce, CFM, FudgeFactor, HiStop, SoJoint::INIT_CFM, SoJoint::INIT_ERP, LoStop, MaxForce, soAxis, soForce, StopCFM, StopERP, SoJoint::updateOdeParametersTrigger, and Velocity.

Member Function Documentation

void SoJointSlider::createOdeJoint ( const dWorldID soWorldId ) [protected, virtual]

This method creates a slider joint using the soWorldId and stores initial values.

Parameters:

soWorldId

the ODE world ID used for creating the joint

Reimplemented from SoJoint.

Definition at line 174 of file SoJointSlider.cpp.

References initForce, initMaxForce, initVelocity, MaxForce, soForce, SoJoint::soJointGroupId, SoJoint::soJointId, and Velocity.

SoNode * SoJointSlider::createVisualisation ( ) [protected, virtual]

This method must be overridden by any subclass of SoJoint to return a visualisation matching the joint type.

Reimplemented from SoJoint.

Definition at line 212 of file SoJointSlider.cpp.

References SoJoint::GenerateCylinderAlignmentRotation(), and soAxis.

SoSFFloat SoJointSlider::getPosition ( )

Definition at line 244 of file SoJointSlider.cpp.

References SoJoint::soJointId.

Referenced by GetJointPosition::vExecute().

SoSFFloat SoJointSlider::getPositionRate ( )

Definition at line 252 of file SoJointSlider.cpp.

References SoJoint::soJointId.

Referenced by GetJointPositionRate::vExecute().

void SoJointSlider::initClass ( ) [static]

Initialises the class and it's type id variables.

Reimplemented from SoJoint.

Definition at line 114 of file SoJointSlider.cpp.

void SoJointSlider::setForce ( dReal force1 = 0.0f ) [virtual]

This method sets the value of force1 as a force on the slider joint.

Parameters:

force1

specifies the forces in X, Y and Z direction.

Reimplemented from SoJoint.

Definition at line 163 of file SoJointSlider.cpp.

References SoJoint::soJointId.

void SoJointSlider::setParams ( ) [virtual]

This method must be overridden by any subclass of SoJoint to set the ODE parameters of the object.

Reimplemented from SoJoint.

Definition at line 230 of file SoJointSlider.cpp.

References Bounce, CFM, FudgeFactor, HiStop, LoStop, MaxForce, SoJoint::soJointId, StopCFM, StopERP, and Velocity.

SoJointSlider::SO_KIT_HEADER ( SoJointSlider ) [private]

void SoJointSlider::updateOdeJointProperties ( const SbMatrix & modelMatrix ) [protected, virtual]

This method updates the axis of the slider joint using the modelMatrix as reference and adds an initial slider force.

Parameters:

modelMatrix

model matrix taken from Coin

Reimplemented from SoJoint.

Definition at line 191 of file SoJointSlider.cpp.

References initForce, initMaxForce, initVelocity, MaxForce, soAxis, soForce, SoJoint::soJointId, and Velocity.

Member Data Documentation

SoJointSlider::Bounce

The bouncyness of the stops (default = 0.0). This is a restitution parameter in the range 0..1. 0 means the stops are not bouncy at all, 1 means maximum bouncyness.

Definition at line 56 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

SoJointSlider::CFM

The constraint force mixing (CFM) value used when not at a stop (default = SoJoint::INIT_CFM).

Definition at line 57 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

SoJointSlider::FudgeFactor

(default = 1.0)
The current (ODE) joint stop/motor implementation has a small problem: when the joint is at one stop and the motor is set to move it away from the stop, too much force may be applied for one time step, causing a ``jumping'' motion. This fudge factor is used to scale this excess force. It should have a value between zero and one (the default value). If the jumping motion is too visible in a joint, the value can be reduced. Making this value too small can prevent the motor from being able to move the joint away from a stop.

Definition at line 55 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

SoJointSlider::HiStop

High stop for the jointangle (default = dInfinity). Setting this to dInfinity turns off the high stop. For rotational joints, this stop must be less than pi to be effective.

Warning:: If SoJointSlider::HiStop is less than SoJointSlider::LowStop then both stops will be ineffective.

Definition at line 52 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

float SoJointSlider::initForce [protected]

Definition at line 68 of file SoJointSlider.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

float SoJointSlider::initMaxForce [protected]

Definition at line 67 of file SoJointSlider.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

float SoJointSlider::initVelocity [protected]

Definition at line 66 of file SoJointSlider.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

SoJointSlider::LoStop

Low stop for the jointangle (default = -dInfinity). Setting this to -dInfinity turns off the low stop. For rotational joints, this stop must be greater than - pi to be effective.

Definition at line 51 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

SoJointSlider::MaxForce

The maximum force or torque that the motor will use to achieve the desired velocity (default = 0.0). This must always be greater than or equal to zero. Setting this to zero turns off the motor.

Definition at line 54 of file SoJointSlider.h.

Referenced by createOdeJoint(), setParams(), SoJointSlider(), updateOdeJointProperties(), and SetJointMaxForce::vExecute().

SoJointSlider::soAxis

The axis for the slider joint (default = {0.0f,0.0f,0.0f}).

Definition at line 48 of file SoJointSlider.h.

Referenced by createVisualisation(), SoJointSlider(), and updateOdeJointProperties().

SoJointSlider::soForce

The force for the slider joint (default = 0.0f).

Definition at line 49 of file SoJointSlider.h.

Referenced by createOdeJoint(), SoJointSlider(), and updateOdeJointProperties().

SoJointSlider::StopCFM

The constraint force mixing (CFM) value used by the stops (default = SoJoint::INIT_CFM). Together with the ERP value this can be used to get spongy or soft stops.

Warning:: Note that this is intended for unpowered joints, it does not really work as expected when a powered joint reaches its limit.

Definition at line 59 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

SoJointSlider::StopERP

The error reduction parameter (ERP) used by the stops (default = SoJoint::INIT_ERP).

Definition at line 58 of file SoJointSlider.h.

Referenced by setParams(), and SoJointSlider().

SoJointSlider::Velocity

Desired motor angular or linear velocity (default = 0.0).

Definition at line 53 of file SoJointSlider.h.

Referenced by createOdeJoint(), setParams(), SoJointSlider(), updateOdeJointProperties(), and SetJointSpeed::vExecute().

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

include/IPSA/SoJointSlider.h
source/SoJointSlider.cpp


Public Member Functions
SoSFFloat	getPosition ()
SoSFFloat	getPositionRate ()
virtual void	setForce (dReal force1=0.0f)
virtual void	setParams ()
	SoJointSlider (const SbString &BodyOne="", const SbString &BodyTwo="", const SbString &nodeName="")
Static Public Member Functions
static void	initClass ()
Public Attributes
SoSFFloat	Bounce
SoSFFloat	CFM
SoSFFloat	FudgeFactor
SoSFFloat	HiStop
SoSFFloat	LoStop
SoSFFloat	MaxForce
SoSFVec3f	soAxis
SoSFFloat	soForce
SoSFFloat	StopCFM
SoSFFloat	StopERP
SoSFFloat	Velocity
Protected Member Functions
virtual void	createOdeJoint (const dWorldID soWorldId)
virtual SoNode *	createVisualisation ()
virtual void	updateOdeJointProperties (const SbMatrix &modelMatrix)
Protected Attributes
float	initForce
float	initMaxForce
float	initVelocity
Private Member Functions
	SO_KIT_HEADER (SoJointSlider)

SoJointSlider Class Reference [libipsa classes, Joint Classes]

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

SoJointSlider Class Reference
[libipsa classes, Joint Classes]