SoJointBall Class Reference
[libipsa classes, Joint Classes]

Defines a ball-and-socket joint. More...

#include <SoJointBall.h>

Inheritance diagram for SoJointBall:

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Collaboration diagram for SoJointBall:

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List of all members.

Public Member Functions
virtual void	setParams ()
	SoJointBall (const SbString &BodyOne="", const SbString &BodyTwo="", const SbString &nodeName="")
Static Public Member Functions
static void	initClass ()
Public Attributes
SoSFFloat	CFM
SoSFFloat	ERP
SoSFVec3f	soAnchor
Protected Member Functions
virtual void	createOdeJoint (const dWorldID soWorldId)
virtual SoNode *	createVisualisation ()
virtual void	updateOdeJointProperties (const SbMatrix &modelMatrix)
Private Member Functions
	SO_KIT_HEADER (SoJointBall)

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Detailed Description

Defines a ball-and-socket joint.

The ball-and-socket joint allows a wide arrange of movement.

A ball and socket joint.

Definition at line 32 of file SoJointBall.h.

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Constructor & Destructor Documentation

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

The parameterized constructor of SoJointBall.

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 72 of file SoJointBall.cpp.

References CFM, ERP, SoJoint::INIT_CFM, SoJoint::INIT_ERP, soAnchor, and SoJoint::updateOdeParametersTrigger.

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Member Function Documentation

void SoJointBall::createOdeJoint

(

const dWorldID

soWorldId

)

[protected, virtual]

This method creates a ball joint using the soWorldId.

Parameters:

soWorldId

the ODE world ID used for creating the joint

Reimplemented from SoJoint.

Definition at line 102 of file SoJointBall.cpp.

References SoJoint::soJointGroupId, and SoJoint::soJointId.

SoNode * SoJointBall::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 128 of file SoJointBall.cpp.

References soAnchor, and SoJoint::VisualisationScale.

void SoJointBall::initClass

(

)

[static]

Initialises the class and it's type id variables.

Reimplemented from SoJoint.

Definition at line 60 of file SoJointBall.cpp.

void SoJointBall::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 89 of file SoJointBall.cpp.

References CFM, ERP, and SoJoint::soJointId.

SoJointBall::SO_KIT_HEADER

(

SoJointBall

)

[private]

void SoJointBall::updateOdeJointProperties

(

const SbMatrix &

modelMatrix

)

[protected, virtual]

This method updates the anchor of the ball joint using the modelMatrix as reference.

Parameters:

modelMatrix

model matrix taken from Coin

Reimplemented from SoJoint.

Definition at line 114 of file SoJointBall.cpp.

References soAnchor, and SoJoint::soJointId.

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Member Data Documentation

SoJointBall::CFM

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

Definition at line 45 of file SoJointBall.h.

Referenced by setParams(), and SoJointBall().

SoJointBall::ERP

The error reduction parameter (ERP) value used when not at a stop (default = SoJoint::INIT_ERP).

Definition at line 46 of file SoJointBall.h.

Referenced by setParams(), and SoJointBall().

SoJointBall::soAnchor

The anchor for the ball-and-socket joint (default = {0.0f, 0.0f, 0.0f}).

Definition at line 44 of file SoJointBall.h.

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

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

• include/IPSA/SoJointBall.h
• source/SoJointBall.cpp