SoJoint Class Reference
[libipsa classes, Joint Classes]

Defines the base class for Inventor joint objects. More...

#include <SoJoint.h>

Inheritance diagram for SoJoint:

List of all members.

Public Member Functions

virtual SoBaseKit * copy (SbBool copyConnections) const

void destroyJoint ()

SoSFVec3f getForce (int idx)

dJointID getJointID ()

SoSFVec3f getTorque (int idx)

virtual void setForce (dReal force1=0.0f)

virtual void setParams ()

virtual void setTorque (dReal torque1=0.0f, dReal torque2=0.0f, dReal torque3=0.0f)

virtual SbBool setUpConnections (SbBool onOff, SbBool doItAlways=FALSE)

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

virtual ~SoJoint ()

Static Public Member Functions

static void initClass ()

static SoCallbackAction::Response InitOdeJointsCB (void *userdata, SoCallbackAction *action, const SoNode *node)

Public Attributes

SoSFName Bodyname1

SoSFName Bodyname2

SoSFBool drawVisualisationShape

const float INIT_CFM

const float INIT_ERP

dJointFeedback * soJointFeedback

SoSFFloat VisualisationScale

Protected Member Functions

virtual void createOdeJoint (const dWorldID soWorldId)

virtual SoNode * createVisualisation ()

SoPhysics * getPhysicsBody (const SbName &bodyname)

SoPhysics * getPhysicsBody1 ()

SoPhysics * getPhysicsBody2 ()

virtual void updateOdeJointProperties (const SbMatrix &modelMatrix)

Static Protected Member Functions

static void GenerateCylinderAlignmentRotation (const SbVec3f &axis, SoTransform &transform)

Protected Attributes

SoFieldSensor drawVisualisationShapeSensor

bool isInitialised

dJointGroupID soJointGroupId

dJointID soJointId

SoFieldSensor updateOdeParametersSensor

SoSFTrigger updateOdeParametersTrigger

Private Member Functions

SO_KIT_CATALOG_ENTRY_HEADER (visualisationShape)

SO_KIT_HEADER (SoJoint)

Static Private Member Functions

static void IPSAJointDrawVisualisationChangedCB (void *data, SoSensor *)

static void IPSAUpdateOdeParametersCB (void *data, SoSensor *)

Detailed Description

Defines the base class for Inventor joint objects.

There are different types of joints which are described more precisely in the inherited classes of SoJoint.

See How to create a new IPSA joint for detailed instructions on how to create new IPSA joints.

Definition at line 44 of file SoJoint.h.

Constructor & Destructor Documentation

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

The standard constructor of SoJoint. The Constructor initialises the variable soJointGroupId which represents the ID of a JointGroup of size 0.

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 graph (default = "")

Definition at line 293 of file SoJoint.cpp.

References Bodyname1, Bodyname2, drawVisualisationShape, drawVisualisationShapeSensor, IPSAJointDrawVisualisationChangedCB(), IPSAUpdateOdeParametersCB(), soJointFeedback, soJointGroupId, updateOdeParametersSensor, and VisualisationScale.

SoJoint::~SoJoint ( ) [virtual]

The virtual standard destructor of SoJoint.

Definition at line 390 of file SoJoint.cpp.

References destroyJoint(), and soJointFeedback.

Member Function Documentation

SoBaseKit * SoJoint::copy ( SbBool copyConnections ) const [virtual]

The overwritten copy() method

Parameters:

copyConnections

copy connections if true

Definition at line 334 of file SoJoint.cpp.

References isInitialised, setUpConnections(), soJointFeedback, soJointGroupId, and soJointId.

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

This method sets SoJointId to NULL. Under normal circumstances it should not get called and would indicate an error.

Parameters:

soWorldId

the ODE world ID used for creating the joint

Reimplemented in SoJointAMotor, SoJointBall, SoJointFixed, SoJointHinge, SoJointHinge2, SoJointSlider, and SoJointUniversal.

Definition at line 498 of file SoJoint.cpp.

References soJointId.

Referenced by InitOdeJointsCB().

SoJoint::createVisualisation ( ) [inline, protected, virtual]

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

Reimplemented in SoJointAMotor, SoJointBall, SoJointHinge, SoJointHinge2, SoJointSlider, and SoJointUniversal.

Definition at line 87 of file SoJoint.h.

Referenced by IPSAJointDrawVisualisationChangedCB().

void SoJoint::destroyJoint ( )

Destroy underlying ODE-Joint directly. A joint destroyed using this function call may currently not be recreated except by renewing the SoJoint-Node object (TBD).

Note:: This does not also destroy the SoJoint node but is a workaround for destroying a physical joint until this may be done by deleting the SoJoint-Node in Open Inventor during simulation. Deleting needs to be synchronized due to random access some how...

Definition at line 405 of file SoJoint.cpp.

References soJointGroupId.

Referenced by RemoveJoint::vExecute(), and ~SoJoint().

void SoJoint::GenerateCylinderAlignmentRotation	(	const SbVec3f &	axis,
		SoTransform &	transform
	)			`[static, protected]`

The SoCylinder is aligned along the Y axis as default. If the rotation axis is to be displayed this method can be used to calculate the rotation needed to align an SoCylinder along the rotation axis given the axis.

Parameters:

	axis	rotation axis along which the SoCylinder should be aligned
	transform	the computed transformation is stored in this parameter

Definition at line 690 of file SoJoint.cpp.

Referenced by SoJointUniversal::createVisualisation(), SoJointSlider::createVisualisation(), SoJointHinge2::createVisualisation(), and SoJointHinge::createVisualisation().

SoSFVec3f SoJoint::getForce ( int idx )

Reads the forces acting upon the joint. The value of idx must be 1 for the first body or 2 for the second body. In any other case the first body is used.

Parameters:

idx

specifies if the first (1) or the second (2) body is used for reading the force

Returns:: forceVector an SbVec3f containing the forces in x, y and z direction

Definition at line 620 of file SoJoint.cpp.

References soJointFeedback, and soJointId.

Referenced by GetJointForce::vExecute().

dJointID SoJoint::getJointID ( )

Reads the value of the protected variable soJointId and returns it.

Returns:: soJointId: the dJointID of the current Joint.

Definition at line 418 of file SoJoint.cpp.

References soJointId.

SoPhysics * SoJoint::getPhysicsBody ( const SbName & bodyName ) [protected]

Searches for a physicsbody by name.

Parameters:

bodyName

name of the body to retrieve

Returns:: NULL if no node was found, the pointer to the SoPhysics subclass otherwise

Definition at line 520 of file SoJoint.cpp.

Referenced by getPhysicsBody1(), and getPhysicsBody2().

SoPhysics * SoJoint::getPhysicsBody1 ( ) [protected]

Returns the first body the joint is connected to by calling SoJoint::getPhysicsBody() with parameters set to those of body 1.

Returns:: physicsBody1 which is the first body the joint is connected to

Definition at line 538 of file SoJoint.cpp.

References Bodyname1, and getPhysicsBody().

Referenced by InitOdeJointsCB().

SoPhysics * SoJoint::getPhysicsBody2 ( ) [protected]

Returns the second body the joint is connected to by calling SoJoint::getPhysicsBody() with parameters set to those of body 2.

Returns:: physicsBody2 which is the second body the joint is connected to

Definition at line 549 of file SoJoint.cpp.

References Bodyname2, and getPhysicsBody().

Referenced by InitOdeJointsCB().

SoSFVec3f SoJoint::getTorque ( int idx )

Reads the torques acting upon the joint. The value of idx must be 1 for the first body or 2 for the second body. In any other case the first body is used.

Parameters:

idx

specifies if the first (1) or the second (2) body is used for reading the torque

Returns:: torqueVector an SbVec3f containing the torques in x, y and z direction

Definition at line 589 of file SoJoint.cpp.

References soJointFeedback, and soJointId.

Referenced by GetJointTorque::vExecute().

void SoJoint::initClass ( ) [static]

Initialises the class and it's type id variables.

Reimplemented in SoJointAMotor, SoJointBall, SoJointFixed, SoJointHinge, SoJointHinge2, SoJointSlider, and SoJointUniversal.

Definition at line 279 of file SoJoint.cpp.

SoCallbackAction::Response SoJoint::InitOdeJointsCB	(	void *	userdata,
		SoCallbackAction *	action,
		const SoNode *	node
	)			`[static]`

This method creates the internal ODE joint for the passed in node by calling SoJoint::createOdeJoint() if it is not present and sets isInitialised to TRUE. Afterwards SoJoint::updateOdeJointProperties() and SoJoint::setParams() are called to synchronise the joint properties with its ODE representation. Additionally it calls SoJoint::setUpConnections() on the instance which can not be done in the constructor since the method SoJoint::setUpConnections() is virtual and can not be called safely inside the constructor.

Parameters:

	userdata	UNUSED
	action	used to retrieve the current model matrix
	node	points to current SoJoint node being hit by the search action

Definition at line 439 of file SoJoint.cpp.

References createOdeJoint(), SoPhysics::getBody(), getPhysicsBody1(), getPhysicsBody2(), SoPhysics::getWorld(), isInitialised, setParams(), setUpConnections(), soJointFeedback, soJointId, and updateOdeJointProperties().

Referenced by SoWorldPhysics::initialiseWorld(), and SoWorldPhysics::resetWorld().

void SoJoint::IPSAJointDrawVisualisationChangedCB	(	void *	data,
		SoSensor *
	)			`[static, private]`

Static callback method which is executed everytime the member drawVisualisationShape is changed. It removes the joint visualisation if drawVisualisationShape is set to FALSE and adds the joint specific visualisation shape otherwise by calling the createVisualisation() method on the current joint.

Parameters:

data

pointer to an object of type SoJoint* (the this pointer of the joint to change)

Definition at line 650 of file SoJoint.cpp.

References createVisualisation(), and drawVisualisationShape.

Referenced by setUpConnections(), and SoJoint().

void SoJoint::IPSAUpdateOdeParametersCB	(	void *	data,
		SoSensor *
	)			`[static, private]`

Static callback method which calls SoJoint::setParams on the passed in data pointer if the object is of type SoJoint*. Does nothing if the object is not of type SoJoint*.

Definition at line 673 of file SoJoint.cpp.

References setParams().

Referenced by SoJoint().

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

This method should be overridden by any subclass of SoJoint. It does nothing.

Parameters:

force1

applied to axis1

Reimplemented in SoJointSlider.

Definition at line 575 of file SoJoint.cpp.

Referenced by SetJointForce::vExecute().

SoJoint::setParams ( ) [inline, virtual]

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

Reimplemented in SoJointAMotor, SoJointBall, SoJointHinge, SoJointHinge2, SoJointSlider, and SoJointUniversal.

Definition at line 60 of file SoJoint.h.

Referenced by InitOdeJointsCB(), and IPSAUpdateOdeParametersCB().

void SoJoint::setTorque	(	dReal	torque1 = `0.0f`,
		dReal	torque2 = `0.0f`,
		dReal	torque3 = `0.0f`
	)			`[virtual]`

This method should be overridden by any subclass of SoJoint. It does nothing.

Parameters:

	torque1	applied to axis1
	torque2	applied to axis2 (if available)
	torque3	applied to axis3 (if available)

Reimplemented in SoJointAMotor, SoJointHinge, SoJointHinge2, and SoJointUniversal.

Definition at line 563 of file SoJoint.cpp.

Referenced by SetJointTorque2::vExecute(), and SetJointTorque::vExecute().

SbBool SoJoint::setUpConnections	(	SbBool	onOff,
		SbBool	doItAlways = `FALSE`
	)			`[virtual]`

This method attachs different sensors to the corresponding fields. To monitor field-changes visualisationShapeSensor is connected to the field SoJoint::drawVisualisationShape. To update parameters in ODE automatically the SoJoint::updateOdeParametersSensor is connected to SoJoint::updateOdeParametersTrigger which should be changed by subclasses if an ODE related field is changed.

Parameters:

	onOff	attach sensors if TRUE, detach sensors if FALSE
	doItAlways	always perform attach/detach of sensors if this parameter is TRUE

Returns:: SbBool

Definition at line 359 of file SoJoint.cpp.

References drawVisualisationShape, drawVisualisationShapeSensor, IPSAJointDrawVisualisationChangedCB(), updateOdeParametersSensor, and updateOdeParametersTrigger.

Referenced by copy(), and InitOdeJointsCB().

SoJoint::SO_KIT_CATALOG_ENTRY_HEADER ( visualisationShape ) [private]

SoJoint::SO_KIT_HEADER ( SoJoint ) [private]

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

This method does nothing and should be overridden in the subclasses.

Parameters:

modelMatrix

UNUSED

Reimplemented in SoJointAMotor, SoJointBall, SoJointFixed, SoJointHinge, SoJointHinge2, SoJointSlider, and SoJointUniversal.

Definition at line 509 of file SoJoint.cpp.

Referenced by InitOdeJointsCB().

Member Data Documentation

SoJoint::Bodyname1

The name of the first body the joint is connected to (default = "").

Definition at line 71 of file SoJoint.h.

Referenced by getPhysicsBody1(), SoJoint(), and SoPrefixNode::UpdateJointsCB().

SoJoint::Bodyname2

The name of the second body the joint is connected to (default = "").

Definition at line 72 of file SoJoint.h.

Referenced by getPhysicsBody2(), SoJoint(), and SoPrefixNode::UpdateJointsCB().

SoJoint::drawVisualisationShape

This field enables or disables the drawing of the visualisation of the joint (default = FALSE).

Definition at line 74 of file SoJoint.h.

Referenced by IPSAJointDrawVisualisationChangedCB(), setUpConnections(), SoJoint(), and ShowJoints::vExecute().

SoJoint::drawVisualisationShapeSensor [protected]

This sensor is connected to SoJoint::drawVisualisationShape and calls SoJoint::IPSAJointDrawVisualisationChangedCB if the field changes.

Definition at line 92 of file SoJoint.h.

Referenced by setUpConnections(), and SoJoint().

SoJoint::INIT_CFM

Default value for the CFM parameter of all ODE joints (default = 1E-8f).

Definition at line 76 of file SoJoint.h.

Referenced by SoJointAMotor::SoJointAMotor(), SoJointBall::SoJointBall(), SoJointHinge::SoJointHinge(), SoJointHinge2::SoJointHinge2(), SoJointSlider::SoJointSlider(), and SoJointUniversal::SoJointUniversal().

SoJoint::INIT_ERP

Default value for the ERP parameter of all ODE joints (default = 0.2f).

Definition at line 77 of file SoJoint.h.

Referenced by SoJointAMotor::SoJointAMotor(), SoJointBall::SoJointBall(), SoJointHinge::SoJointHinge(), SoJointHinge2::SoJointHinge2(), SoJointSlider::SoJointSlider(), and SoJointUniversal::SoJointUniversal().

SoJoint::isInitialised [protected]

This member tracks the initalisation status of the joint and prevents multiple creations of the same joint through SoJoint::createODEJoint().

Definition at line 95 of file SoJoint.h.

Referenced by copy(), and InitOdeJointsCB().

SoJoint::soJointFeedback

ODE structure which is used to retrieve the forces and torques acting upon the joint.

Definition at line 79 of file SoJoint.h.

Referenced by copy(), getForce(), getTorque(), InitOdeJointsCB(), SoJoint(), and ~SoJoint().

SoJoint::soJointGroupId [protected]

This ODE structure represents a group of joints and is used by subclasses of SoJoint to create new ODE joints.

Definition at line 93 of file SoJoint.h.

Referenced by copy(), SoJointUniversal::createOdeJoint(), SoJointSlider::createOdeJoint(), SoJointHinge2::createOdeJoint(), SoJointHinge::createOdeJoint(), SoJointFixed::createOdeJoint(), SoJointBall::createOdeJoint(), SoJointAMotor::createOdeJoint(), destroyJoint(), and SoJoint().

SoJoint::soJointId [protected]

This ODE structure represents the ODE internal ID of the current joint. It is set by subclasses of SoJoint after creating the specialised joint with the dJointCreate*() methods.

Definition at line 94 of file SoJoint.h.

Referenced by copy(), SoJointUniversal::createOdeJoint(), SoJointSlider::createOdeJoint(), SoJointHinge2::createOdeJoint(), SoJointHinge::createOdeJoint(), SoJointFixed::createOdeJoint(), SoJointBall::createOdeJoint(), SoJointAMotor::createOdeJoint(), createOdeJoint(), SoJointHinge2::getAngle(), SoJointHinge::getAngle(), SoJointHinge2::getAngleRate(), SoJointHinge::getAngleRate(), getForce(), getJointID(), SoJointSlider::getPosition(), SoJointSlider::getPositionRate(), getTorque(), InitOdeJointsCB(), SoJointSlider::setForce(), SoJointUniversal::setParams(), SoJointSlider::setParams(), SoJointHinge2::setParams(), SoJointHinge::setParams(), SoJointBall::setParams(), SoJointAMotor::setParams(), SoJointUniversal::setTorque(), SoJointHinge2::setTorque(), SoJointHinge::setTorque(), SoJointAMotor::setTorque(), SoJointUniversal::updateOdeJointProperties(), SoJointSlider::updateOdeJointProperties(), SoJointHinge2::updateOdeJointProperties(), SoJointHinge::updateOdeJointProperties(), SoJointFixed::updateOdeJointProperties(), SoJointBall::updateOdeJointProperties(), and SoJointAMotor::updateOdeJointProperties().

SoJoint::updateOdeParametersSensor [protected]

This sensor is connected to the ODE paramters of SoJoint and calls SoJoint::IPSAChangeParameterCB if the SoJoint::updateOdeParametersTrigger field changes.

See also:: SoJoint::updateOdeParametersTrigger

Definition at line 91 of file SoJoint.h.

Referenced by setUpConnections(), and SoJoint().

SoJoint::updateOdeParametersTrigger [protected]

This field is connected to SoJoint::updateOdeParametersSensor so that the ODE parameters get updated automatically. Therefore any ODE related field must change this field in order to trigger the automatic update (use updateOdeParametersTrigger.appendConnection(masterField) ).

Definition at line 90 of file SoJoint.h.

Referenced by setUpConnections(), SoJointAMotor::SoJointAMotor(), SoJointBall::SoJointBall(), SoJointHinge::SoJointHinge(), SoJointHinge2::SoJointHinge2(), SoJointSlider::SoJointSlider(), and SoJointUniversal::SoJointUniversal().

SoJoint::VisualisationScale

The scaling of the joint visualisation (default = 1.0f).

Definition at line 73 of file SoJoint.h.

Referenced by SoJointHinge::createVisualisation(), SoJointBall::createVisualisation(), and SoJoint().

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

include/IPSA/SoJoint.h
source/SoJoint.cpp


Public Member Functions
virtual SoBaseKit *	copy (SbBool copyConnections) const
void	destroyJoint ()
SoSFVec3f	getForce (int idx)
dJointID	getJointID ()
SoSFVec3f	getTorque (int idx)
virtual void	setForce (dReal force1=0.0f)
virtual void	setParams ()
virtual void	setTorque (dReal torque1=0.0f, dReal torque2=0.0f, dReal torque3=0.0f)
virtual SbBool	setUpConnections (SbBool onOff, SbBool doItAlways=FALSE)
	SoJoint (const SbString &BodyOne="", const SbString &BodyTwo="", const SbString &nodeName="")
virtual	~SoJoint ()
Static Public Member Functions
static void	initClass ()
static SoCallbackAction::Response	InitOdeJointsCB (void userdata, SoCallbackAction action, const SoNode *node)
Public Attributes
SoSFName	Bodyname1
SoSFName	Bodyname2
SoSFBool	drawVisualisationShape
const float	INIT_CFM
const float	INIT_ERP
dJointFeedback *	soJointFeedback
SoSFFloat	VisualisationScale
Protected Member Functions
virtual void	createOdeJoint (const dWorldID soWorldId)
virtual SoNode *	createVisualisation ()
SoPhysics *	getPhysicsBody (const SbName &bodyname)
SoPhysics *	getPhysicsBody1 ()
SoPhysics *	getPhysicsBody2 ()
virtual void	updateOdeJointProperties (const SbMatrix &modelMatrix)
Static Protected Member Functions
static void	GenerateCylinderAlignmentRotation (const SbVec3f &axis, SoTransform &transform)
Protected Attributes
SoFieldSensor	drawVisualisationShapeSensor
bool	isInitialised
dJointGroupID	soJointGroupId
dJointID	soJointId
SoFieldSensor	updateOdeParametersSensor
SoSFTrigger	updateOdeParametersTrigger
Private Member Functions
	SO_KIT_CATALOG_ENTRY_HEADER (visualisationShape)
	SO_KIT_HEADER (SoJoint)
Static Private Member Functions
static void	IPSAJointDrawVisualisationChangedCB (void data, SoSensor )
static void	IPSAUpdateOdeParametersCB (void data, SoSensor )

SoJoint Class Reference [libipsa classes, Joint Classes]

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

SoJoint Class Reference
[libipsa classes, Joint Classes]