SoJointAMotor Class Reference
[libipsa classes, Joint Classes]

Defines an angular motor joint with a maximum of 3 axis. More...

#include <SoJointAMotor.h>

Inheritance diagram for SoJointAMotor:

Collaboration diagram for SoJointAMotor:

List of all members.

Public Types

Public Member Functions

virtual void setParams ()

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

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

Static Public Member Functions

static void initClass ()

Public Attributes

SoSFFloat Bounce

SoSFFloat Bounce2

SoSFFloat Bounce3

SoSFFloat CFM

SoSFFloat CFM2

SoSFFloat CFM3

SoSFFloat FudgeFactor

SoSFFloat FudgeFactor2

SoSFFloat FudgeFactor3

SoSFFloat HiStop

SoSFFloat HiStop2

SoSFFloat HiStop3

SoSFFloat LoStop

SoSFFloat LoStop2

SoSFFloat LoStop3

SoSFFloat MaxForce

SoSFFloat MaxForce2

SoSFFloat MaxForce3

SoMFVec3f soAngle

SoMFVec3f soAxis

SoSFInt32 soMotorMode

SoSFInt32 soNumberAxes

SoMFInt32 soRelativeOrientation

SoSFVec3f soTorque

SoSFFloat StopCFM

SoSFFloat StopCFM2

SoSFFloat StopCFM3

SoSFFloat StopERP

SoSFFloat StopERP2

SoSFFloat StopERP3

SoSFFloat SuspensionCFM

SoSFFloat SuspensionCFM2

SoSFFloat SuspensionCFM3

SoSFFloat SuspensionERP

SoSFFloat SuspensionERP2

SoSFFloat SuspensionERP3

SoSFFloat Velocity

SoSFFloat Velocity2

SoSFFloat Velocity3

Protected Member Functions

virtual void createOdeJoint (const dWorldID soWorldId)

virtual SoNode * createVisualisation ()

virtual void updateOdeJointProperties (const SbMatrix &modelMatrix)

Protected Attributes

float initMaxForce [3]

SbVec3f initTorque

float initVelocity [3]

Private Member Functions

SO_KIT_HEADER (SoJointAMotor)

Detailed Description

Defines an angular motor joint with a maximum of 3 axis.

An angular motor (AMotor) allows the relative angular velocities of two bodies to be controlled.
The angular velocity can be controlled on up to three axes, allowing torque motors and stops to be set for rotation about those axes. This is mainly useful in conjunction with ball joints, but it can be used in any situation where angular control is needed.

An angular motor joint

Definition at line 36 of file SoJointAMotor.h.

Member Enumeration Documentation

enum SoJointAMotor::MotorMode

Enumerator:

eMMUserMode
eMMEulerMode

Definition at line 49 of file SoJointAMotor.h.

Constructor & Destructor Documentation

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

The parameterized constructor of SoJointAMotor.

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 302 of file SoJointAMotor.cpp.

References Bounce, Bounce2, Bounce3, CFM, CFM2, CFM3, eMMEulerMode, FudgeFactor, FudgeFactor2, FudgeFactor3, HiStop, HiStop2, HiStop3, SoJoint::INIT_CFM, SoJoint::INIT_ERP, LoStop, LoStop2, LoStop3, MaxForce, MaxForce2, MaxForce3, soAngle, soAxis, soMotorMode, soNumberAxes, soRelativeOrientation, soTorque, StopCFM, StopCFM2, StopCFM3, StopERP, StopERP2, StopERP3, SuspensionCFM, SuspensionCFM2, SuspensionCFM3, SuspensionERP, SuspensionERP2, SuspensionERP3, SoJoint::updateOdeParametersTrigger, Velocity, Velocity2, and Velocity3.

Member Function Documentation

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

This method creates a hinge 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 438 of file SoJointAMotor.cpp.

References initMaxForce, initTorque, initVelocity, MaxForce, MaxForce2, MaxForce3, SoJoint::soJointGroupId, SoJoint::soJointId, soNumberAxes, soTorque, Velocity, Velocity2, and Velocity3.

SoNode * SoJointAMotor::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 497 of file SoJointAMotor.cpp.

void SoJointAMotor::initClass ( ) [static]

Initialises the class and it's type id variables.

Reimplemented from SoJoint.

Definition at line 290 of file SoJointAMotor.cpp.

void SoJointAMotor::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 399 of file SoJointAMotor.cpp.

References Bounce, Bounce2, Bounce3, CFM, CFM2, CFM3, FudgeFactor, FudgeFactor2, FudgeFactor3, HiStop, HiStop2, HiStop3, LoStop, LoStop2, LoStop3, MaxForce, MaxForce2, MaxForce3, SoJoint::soJointId, StopCFM, StopCFM2, StopCFM3, StopERP, StopERP2, StopERP3, Velocity, Velocity2, and Velocity3.

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

This method uses the values of torque1, torque2 and torque3 to set torques on the angular motor joint.

Parameters:

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

Reimplemented from SoJoint.

Definition at line 393 of file SoJointAMotor.cpp.

References SoJoint::soJointId.

Referenced by updateOdeJointProperties().

SoJointAMotor::SO_KIT_HEADER ( SoJointAMotor ) [private]

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

This method updates the anchors of the angular motor joint using the modelMatrix as reference and sets the initial torque.

Parameters:

modelMatrix

model matrix taken from Coin

Reimplemented from SoJoint.

Definition at line 460 of file SoJointAMotor.cpp.

References initMaxForce, initTorque, initVelocity, MaxForce, MaxForce2, MaxForce3, setTorque(), soAxis, SoJoint::soJointId, soRelativeOrientation, soTorque, Velocity, Velocity2, and Velocity3.

Member Data Documentation

SoJointAMotor::Bounce

The bouncyness of the stops of axis 1 (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 66 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::Bounce2

The bouncyness of the stops of axis 2 (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 78 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::Bounce3

The bouncyness of the stops of axis 3 (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 90 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::CFM

The constraint force mixing (CFM) value used for axis 1 when not at a stop (default = SoJoint::INIT_CFM).

Definition at line 67 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::CFM2

The constraint force mixing (CFM) value used for axis 2 when not at a stop (default = SoJoint::INIT_CFM).

Definition at line 79 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::CFM3

The constraint force mixing (CFM) value used for axis 3 when not at a stop (default = SoJoint::INIT_CFM).

Definition at line 91 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::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 65 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::FudgeFactor2

(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 77 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::FudgeFactor3

(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 89 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::HiStop

High stop for the angle of axis 1 (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 SoJointAMotor::HiStop is less than SoJointAMotor::LowStop then both stops will be ineffective.

Definition at line 62 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::HiStop2

High stop for the angle of axis 2 (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 SoJointAMotor::HiStop is less than SoJointAMotor::LowStop then both stops will be ineffective.

Definition at line 74 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::HiStop3

High stop for the angle of axis 3 (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 SoJointAMotor::HiStop is less than SoJointAMotor::LowStop then both stops will be ineffective.

Definition at line 86 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

float SoJointAMotor::initMaxForce[3] [protected]

Definition at line 103 of file SoJointAMotor.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

SbVec3f SoJointAMotor::initTorque [protected]

Definition at line 104 of file SoJointAMotor.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

float SoJointAMotor::initVelocity[3] [protected]

Definition at line 102 of file SoJointAMotor.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

SoJointAMotor::LoStop

Low stop for the angle of axis 1 (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 61 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::LoStop2

Low stop for the angle of axis 2 (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 73 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::LoStop3

Low stop for the angle of axis 3 (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 85 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::MaxForce

The maximum force or torque that the motor of axis 1 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 64 of file SoJointAMotor.h.

Referenced by createOdeJoint(), setParams(), SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::MaxForce2

The maximum force or torque that the motor of axis 2 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 76 of file SoJointAMotor.h.

Referenced by createOdeJoint(), setParams(), SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::MaxForce3

The maximum force or torque that the motor of axis 3 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 88 of file SoJointAMotor.h.

Referenced by createOdeJoint(), setParams(), SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::soAngle

The angle for each axis of the angular motor joint (default = {0.0f, 0.0f, 0.0f}).

Definition at line 57 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::soAxis

The axis of the angular motor joint (default = {0.0f, 0.0f, 0.0f}).

Definition at line 56 of file SoJointAMotor.h.

Referenced by SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::soMotorMode

The motor mode for the angular motor joint (default = EulerMode).

eMMUserMode
eMMEulerMode

Definition at line 55 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::soNumberAxes

The number of axes (0 to 3) for the angular motor joint (default = 3).
Set this to 0 to disable the angular motor.

Definition at line 54 of file SoJointAMotor.h.

Referenced by createOdeJoint(), and SoJointAMotor().

SoJointAMotor::soRelativeOrientation

The relative orientation of each of the three axes (default = 0). The first value represents axis 1...
Each axis can have one of three ``relative orientation'' modes, selected by rel:

0: The axis is anchored to the global frame.
1: The axis is anchored to the first body.
2: The axis is anchored to the second body.

Definition at line 59 of file SoJointAMotor.h.

Referenced by SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::soTorque

The torque of the angular motor joint (default = 0.0f).

Definition at line 58 of file SoJointAMotor.h.

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

SoJointAMotor::StopCFM

The constraint force mixing (CFM) value used by the stops of axis 1 (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 69 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::StopCFM2

The constraint force mixing (CFM) value used by the stops of axis 2 (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 81 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::StopCFM3

The constraint force mixing (CFM) value used by the stops of axis 3 (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 93 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::StopERP

The error reduction parameter (ERP) used by the stops of axis 1 (default = SoJoint::INIT_ERP).

Definition at line 68 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::StopERP2

The error reduction parameter (ERP) used by the stops of axis 2 (default = SoJoint::INIT_ERP).

Definition at line 80 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::StopERP3

The error reduction parameter (ERP) used by the stops of axis 3 (default = SoJoint::INIT_ERP).

Definition at line 92 of file SoJointAMotor.h.

Referenced by setParams(), and SoJointAMotor().

SoJointAMotor::SuspensionCFM

Suspension constraint force mixing (CFM) value for axis 1(default = SoJoint::INIT_CFM). Currently this is only implemented on the hinge-2 joint in ODE.

Definition at line 71 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::SuspensionCFM2

Suspension constraint force mixing (CFM) value for axis 2(default = SoJoint::INIT_CFM). Currently this is only implemented on the hinge-2 joint in ODE.

Definition at line 83 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::SuspensionCFM3

Suspension constraint force mixing (CFM) value for axis 3(default = SoJoint::INIT_CFM). Currently this is only implemented on the hinge-2 joint in ODE.

Definition at line 95 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::SuspensionERP

Suspension error reduction parameter (ERP) for axis 1 (default = SoJoint::INIT_ERP). Currently this is only implemented on the hinge-2 joint in ODE.

Definition at line 70 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::SuspensionERP2

Suspension error reduction parameter (ERP) for axis 2 (default = SoJoint::INIT_ERP). Currently this is only implemented on the hinge-2 joint in ODE.

Definition at line 82 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::SuspensionERP3

Suspension error reduction parameter (ERP) for axis 3 (default = SoJoint::INIT_ERP). Currently this is only implemented on the hinge-2 joint in ODE.

Definition at line 94 of file SoJointAMotor.h.

Referenced by SoJointAMotor().

SoJointAMotor::Velocity

Desired angular or linear velocity of the motor of axis 1 (default = 0.0).

Definition at line 63 of file SoJointAMotor.h.

Referenced by createOdeJoint(), setParams(), SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::Velocity2

Desired angular or linear velocity of the motor of axis 2 (default = 0.0).

Definition at line 75 of file SoJointAMotor.h.

Referenced by createOdeJoint(), setParams(), SoJointAMotor(), and updateOdeJointProperties().

SoJointAMotor::Velocity3

Desired angular or linear velocity of the motor of axis 3 (default = 0.0).

Definition at line 87 of file SoJointAMotor.h.

Referenced by createOdeJoint(), setParams(), SoJointAMotor(), and updateOdeJointProperties().

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

include/IPSA/SoJointAMotor.h
source/SoJointAMotor.cpp


Public Types
Public Member Functions
virtual void	setParams ()
virtual void	setTorque (dReal torque1=0.0f, dReal torque2=0.0f, dReal torque3=0.0f)
	SoJointAMotor (const SbString &BodyOne="", const SbString &BodyTwo="", const SbString &nodeName="")
Static Public Member Functions
static void	initClass ()
Public Attributes
SoSFFloat	Bounce
SoSFFloat	Bounce2
SoSFFloat	Bounce3
SoSFFloat	CFM
SoSFFloat	CFM2
SoSFFloat	CFM3
SoSFFloat	FudgeFactor
SoSFFloat	FudgeFactor2
SoSFFloat	FudgeFactor3
SoSFFloat	HiStop
SoSFFloat	HiStop2
SoSFFloat	HiStop3
SoSFFloat	LoStop
SoSFFloat	LoStop2
SoSFFloat	LoStop3
SoSFFloat	MaxForce
SoSFFloat	MaxForce2
SoSFFloat	MaxForce3
SoMFVec3f	soAngle
SoMFVec3f	soAxis
SoSFInt32	soMotorMode
SoSFInt32	soNumberAxes
SoMFInt32	soRelativeOrientation
SoSFVec3f	soTorque
SoSFFloat	StopCFM
SoSFFloat	StopCFM2
SoSFFloat	StopCFM3
SoSFFloat	StopERP
SoSFFloat	StopERP2
SoSFFloat	StopERP3
SoSFFloat	SuspensionCFM
SoSFFloat	SuspensionCFM2
SoSFFloat	SuspensionCFM3
SoSFFloat	SuspensionERP
SoSFFloat	SuspensionERP2
SoSFFloat	SuspensionERP3
SoSFFloat	Velocity
SoSFFloat	Velocity2
SoSFFloat	Velocity3
Protected Member Functions
virtual void	createOdeJoint (const dWorldID soWorldId)
virtual SoNode *	createVisualisation ()
virtual void	updateOdeJointProperties (const SbMatrix &modelMatrix)
Protected Attributes
float	initMaxForce [3]
SbVec3f	initTorque
float	initVelocity [3]
Private Member Functions
	SO_KIT_HEADER (SoJointAMotor)

SoJointAMotor Class Reference [libipsa classes, Joint Classes]

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

SoJointAMotor Class Reference
[libipsa classes, Joint Classes]