SoJointHinge Class Reference
[libipsa classes, Joint Classes]

Defines a hinge joint which allows flexion and extension in one plane (just like a door hinge). More...

#include <SoJointHinge.h>

Inheritance diagram for SoJointHinge:

Collaboration diagram for SoJointHinge:

List of all members.

Public Member Functions

SoSFFloat getAngle ()

SoSFFloat getAngleRate ()

virtual void setParams ()

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

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

Static Public Member Functions

static void initClass ()

Public Attributes

SoSFFloat AngleOffset

SoSFFloat Bounce

SoSFFloat CFM

SoSFFloat FudgeFactor

SoSFFloat HiStop

SoSFFloat LoStop

SoSFFloat MaxForce

SoSFVec3f soAnchor

SoSFVec3f soAxis

SoSFFloat soTorque

SoSFFloat StopCFM

SoSFFloat StopERP

SoSFFloat SuspensionCFM

SoSFFloat SuspensionERP

SoSFFloat Velocity

Protected Member Functions

virtual void createOdeJoint (const dWorldID soWorldId)

virtual SoNode * createVisualisation ()

virtual void updateOdeJointProperties (const SbMatrix &modelMatrix)

Protected Attributes

float initMaxForce

float initVelocity

Private Member Functions

SO_KIT_HEADER (SoJointHinge)

Detailed Description

Defines a hinge joint which allows flexion and extension in one plane (just like a door hinge).

A hinge joint.

Definition at line 35 of file SoJointHinge.h.

Constructor & Destructor Documentation

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

The parameterized constructor of SoJointHinge.

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 140 of file SoJointHinge.cpp.

References AngleOffset, Bounce, CFM, FudgeFactor, HiStop, SoJoint::INIT_CFM, SoJoint::INIT_ERP, LoStop, MaxForce, soAnchor, soAxis, StopCFM, StopERP, SuspensionCFM, SuspensionERP, SoJoint::updateOdeParametersTrigger, and Velocity.

Member Function Documentation

void SoJointHinge::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 198 of file SoJointHinge.cpp.

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

SoNode * SoJointHinge::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 234 of file SoJointHinge.cpp.

References SoJoint::GenerateCylinderAlignmentRotation(), soAnchor, soAxis, and SoJoint::VisualisationScale.

SoSFFloat SoJointHinge::getAngle ( )

Definition at line 273 of file SoJointHinge.cpp.

References AngleOffset, and SoJoint::soJointId.

Referenced by GetJointAngle::vExecute().

SoSFFloat SoJointHinge::getAngleRate ( )

Definition at line 281 of file SoJointHinge.cpp.

References SoJoint::soJointId.

Referenced by GetJointAngleRate::vExecute().

void SoJointHinge::initClass ( ) [static]

Initialises the class and it's type id variables.

Reimplemented from SoJoint.

Definition at line 128 of file SoJointHinge.cpp.

void SoJointHinge::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 257 of file SoJointHinge.cpp.

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

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

This method uses torque1 to set a torque on the hinge joint.

Parameters:

	torque1	applied to axis1
	torque2	UNUSED
	torque3	UNUSED

Reimplemented from SoJoint.

Definition at line 187 of file SoJointHinge.cpp.

References SoJoint::soJointId.

SoJointHinge::SO_KIT_HEADER ( SoJointHinge ) [private]

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

This method updates the anchor and the axis of the hinge joint using the modelMatrix as reference.

Parameters:

modelMatrix

model matrix taken from Coin

Reimplemented from SoJoint.

Definition at line 214 of file SoJointHinge.cpp.

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

Member Data Documentation

SoSFFloat SoJointHinge::AngleOffset

Definition at line 55 of file SoJointHinge.h.

Referenced by getAngle(), setParams(), and SoJointHinge().

SoJointHinge::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 61 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::CFM

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

Definition at line 62 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::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 60 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::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 SoJointHinge::HiStop is less than SoJointHinge::LowStop then both stops will be ineffective.

Definition at line 57 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

float SoJointHinge::initMaxForce [protected]

Definition at line 74 of file SoJointHinge.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

float SoJointHinge::initVelocity [protected]

Definition at line 73 of file SoJointHinge.h.

Referenced by createOdeJoint(), and updateOdeJointProperties().

SoJointHinge::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 56 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::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 59 of file SoJointHinge.h.

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

SoJointHinge::soAnchor

The anchor for the hinge joint (default = {0.0, 0.0, 0.0}).

Definition at line 51 of file SoJointHinge.h.

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

SoJointHinge::soAxis

The axis for the hinge joint (default = {1.0, 0.0, 0.0}).

Definition at line 52 of file SoJointHinge.h.

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

SoJointHinge::soTorque

The torque for the hinge joint.

Definition at line 53 of file SoJointHinge.h.

SoJointHinge::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 64 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::StopERP

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

Definition at line 63 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::SuspensionCFM

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

Definition at line 66 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::SuspensionERP

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

Definition at line 65 of file SoJointHinge.h.

Referenced by setParams(), and SoJointHinge().

SoJointHinge::Velocity

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

Definition at line 58 of file SoJointHinge.h.

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

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

include/IPSA/SoJointHinge.h
source/SoJointHinge.cpp


Public Member Functions
SoSFFloat	getAngle ()
SoSFFloat	getAngleRate ()
virtual void	setParams ()
virtual void	setTorque (dReal torque1=0.0f, dReal torque2=0.0f, dReal torque3=0.0f)
	SoJointHinge (const SbString &BodyOne="", const SbString &BodyTwo="", const SbString &nodeName="")
Static Public Member Functions
static void	initClass ()
Public Attributes
SoSFFloat	AngleOffset
SoSFFloat	Bounce
SoSFFloat	CFM
SoSFFloat	FudgeFactor
SoSFFloat	HiStop
SoSFFloat	LoStop
SoSFFloat	MaxForce
SoSFVec3f	soAnchor
SoSFVec3f	soAxis
SoSFFloat	soTorque
SoSFFloat	StopCFM
SoSFFloat	StopERP
SoSFFloat	SuspensionCFM
SoSFFloat	SuspensionERP
SoSFFloat	Velocity
Protected Member Functions
virtual void	createOdeJoint (const dWorldID soWorldId)
virtual SoNode *	createVisualisation ()
virtual void	updateOdeJointProperties (const SbMatrix &modelMatrix)
Protected Attributes
float	initMaxForce
float	initVelocity
Private Member Functions
	SO_KIT_HEADER (SoJointHinge)

SoJointHinge 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

SoJointHinge Class Reference
[libipsa classes, Joint Classes]