#include <BallJoint.h>

Public Types
enum	DegreeOfFreedom { X , Y , Z }

Public Member Functions
std::shared_ptr< BallJoint >	asBallJoint ()

std::shared_ptr< CylindricalJoint >	asCylindricalJoint ()

std::shared_ptr< HingeJoint >	asHingeJoint ()

std::shared_ptr< LockJoint >	asLockJoint ()

std::shared_ptr< PrismaticJoint >	asPrismaticJoint ()

std::shared_ptr< SpringJoint >	asSpringJoint ()

std::shared_ptr< RigidBody >	getBody (int body) const

Vec3	getBodyForce (int body) const

Vec3	getBodyTorque (int body) const

bool	getEnabled () const

std::string	getName () const

double	getRotationalDamping (DegreeOfFreedom dof) const

double	getRotationalElasticity (DegreeOfFreedom dof) const

AffineMatrix4x4	getTransformation (int body) const

double	getTranslationalDamping (DegreeOfFreedom dof) const

double	getTranslationalElasticity (DegreeOfFreedom dof) const

bool	operator== (const Joint &other) const

void	setEnabled (bool enabled)

void	setRotationalDamping (DegreeOfFreedom dof, double damping)

void	setRotationalElasticity (DegreeOfFreedom dof, double elasticity)

void	setTransformation (int body, const AffineMatrix4x4 &transform)

void	setTranslationalDamping (DegreeOfFreedom dof, double damping)

void	setTranslationalElasticity (DegreeOfFreedom dof, double elasticity)

Protected Member Functions
virtual int	getAgxRotationalDOF (Joint::DegreeOfFreedom dof) const

virtual int	getAgxTranslationalDOF (Joint::DegreeOfFreedom dof) const

agx::Real	getDampingInternal (int agxDOF) const

void	setDampingInternal (int agxDOF, double damping)

Detailed Description

The ball joint class, a joint where all the rotational axis are unconstrained.

Member Enumeration Documentation

◆ DegreeOfFreedom

enum MOMENTUM_NAMESPACE::Joint::DegreeOfFreedom

inherited

Enumerator
X
Y
Z

Member Function Documentation

◆ asBallJoint()

std::shared_ptr< BallJoint > MOMENTUM_NAMESPACE::Joint::asBallJoint ( )

inherited

Returns: a reference to the joint as a BallJoint if it is a BallJoint, otherwise nullptr will be returned

◆ asCylindricalJoint()

std::shared_ptr< CylindricalJoint > MOMENTUM_NAMESPACE::Joint::asCylindricalJoint ( )

inherited

Returns: a reference to the joint as a CylindricalJoint if it is a CylindricalJoint, otherwise nullptr will be returned

◆ asHingeJoint()

std::shared_ptr< HingeJoint > MOMENTUM_NAMESPACE::Joint::asHingeJoint ( )

inherited

Returns: a reference to the joint as a HingeJoint if it is a HingeJoint, otherwise nullptr will be returned

◆ asLockJoint()

std::shared_ptr< LockJoint > MOMENTUM_NAMESPACE::Joint::asLockJoint ( )

inherited

Returns: a reference to the joint as a LockJoint if it is a LockJoint, otherwise nullptr will be returned

◆ asPrismaticJoint()

std::shared_ptr< PrismaticJoint > MOMENTUM_NAMESPACE::Joint::asPrismaticJoint ( )

inherited

Returns: a reference to the joint as a PrismaticJoint if it is a PrismaticJoint, otherwise nullptr will be returned

◆ asSpringJoint()

std::shared_ptr< SpringJoint > MOMENTUM_NAMESPACE::Joint::asSpringJoint ( )

inherited

Returns: a reference to the joint as a SpringJoint if it is a SpringJoint, otherwise nullptr will be returned

◆ getAgxRotationalDOF()

virtual int MOMENTUM_NAMESPACE::BallJoint::getAgxRotationalDOF ( Joint::DegreeOfFreedom dof ) const

protectedvirtual

Reimplemented from MOMENTUM_NAMESPACE::Joint.

◆ getAgxTranslationalDOF()

virtual int MOMENTUM_NAMESPACE::BallJoint::getAgxTranslationalDOF ( Joint::DegreeOfFreedom dof ) const

protectedvirtual

Reimplemented from MOMENTUM_NAMESPACE::Joint.

◆ getBody()

std::shared_ptr< RigidBody > MOMENTUM_NAMESPACE::Joint::getBody ( int body ) const

inherited

Return the body at position 0 or 1, 1 can be nullptr, if that is the case, it is attached to world.

Parameters

body	- 0 for first body, 1 for second

Returns: the attached body

◆ getBodyForce()

Vec3 MOMENTUM_NAMESPACE::Joint::getBodyForce ( int body ) const

inherited

Get the force that the joint exerts on the specified body in the frame of the body, in newton.

Parameters

body	- 0 for first body, 1 for second

Returns: the force applied to the body from the constraint

◆ getBodyTorque()

Vec3 MOMENTUM_NAMESPACE::Joint::getBodyTorque ( int body ) const

inherited

Get the torque that the joint exerts on the specified body in the frame of the body, in newton-meters.

Parameters

body	- 0 for first body, 1 for second

Returns: the torque applied to the body from the constraint

◆ getDampingInternal()

agx::Real MOMENTUM_NAMESPACE::Joint::getDampingInternal ( int agxDOF ) const

protectedinherited

◆ getEnabled()

bool MOMENTUM_NAMESPACE::Joint::getEnabled ( ) const

inherited

Is the joint is enabled?

Returns: if the joint is enabled for simulation

◆ getName()

std::string MOMENTUM_NAMESPACE::Joint::getName ( ) const

inherited

Get the name of the Joint.

Returns: the name of the joint

◆ getRotationalDamping()

double MOMENTUM_NAMESPACE::Joint::getRotationalDamping ( DegreeOfFreedom dof ) const

inherited

Get the rotational damping along the axis of the joint, in newton-meter-seconds per radian.

Parameters

dof	the degree of freedom to get the damping of

Returns: the rotational damping

◆ getRotationalElasticity()

double MOMENTUM_NAMESPACE::Joint::getRotationalElasticity ( DegreeOfFreedom dof ) const

inherited

Get the rotational elasticity along the axis of the joint, in newton per radian.

Parameters

dof	the degree of freedom to get the elasticity of

Returns: the rotational elasticity

◆ getTransformation()

AffineMatrix4x4 MOMENTUM_NAMESPACE::Joint::getTransformation ( int body ) const

inherited

Get the transformation in the world frame of the attachment of specified body.

Parameters

body	- 0 for first body, 1 for second

Returns: the attachment transformation in the world frame.

◆ getTranslationalDamping()

double MOMENTUM_NAMESPACE::Joint::getTranslationalDamping ( DegreeOfFreedom dof ) const

inherited

Get the translational damping along the axis of the joint, in newton-seconds per meter.

Parameters

dof	the degree of freedom to get the damping of

Returns: the translational damping

◆ getTranslationalElasticity()

double MOMENTUM_NAMESPACE::Joint::getTranslationalElasticity ( DegreeOfFreedom dof ) const

inherited

Get the translational elasticity along the axis of the joint.

It is returned in newton per meter.

Parameters

dof	- select which dof for which the elasticity will be returned

Returns: the translational elasticity

◆ operator==()

bool MOMENTUM_NAMESPACE::Joint::operator== ( const Joint & other ) const

inherited

◆ setDampingInternal()

void MOMENTUM_NAMESPACE::Joint::setDampingInternal	(	int	agxDOF,
		double	damping
	)

protectedinherited

◆ setEnabled()

void MOMENTUM_NAMESPACE::Joint::setEnabled ( bool enabled )

inherited

Set to true if the joint should be enabled and should interact with the simulation.

Parameters

enabled - if true the joint should interact with the simulation

Only available in simulation mode

◆ setRotationalDamping()

void MOMENTUM_NAMESPACE::Joint::setRotationalDamping	(	DegreeOfFreedom	dof,
		double	damping
	)

inherited

Set the rotational damping along the axis of the joint, in newton-meter-seconds per radian.

Parameters

dof	the degree of freedom to set the damping of
damping	new the rotational damping

Only available in simulation mode

◆ setRotationalElasticity()

void MOMENTUM_NAMESPACE::Joint::setRotationalElasticity	(	DegreeOfFreedom	dof,
		double	elasticity
	)

inherited

Set the rotational elasticity along the axis of the joint, in newton per radian.

Parameters

dof	the degree of freedom to set the elasticity of
elasticity	the new rotational elasticity

Only available in simulation mode

◆ setTransformation()

void MOMENTUM_NAMESPACE::Joint::setTransformation	(	int	body,
		const AffineMatrix4x4 &	transform
	)

inherited

Set the attachment transformation in the world frame of the specified body.

Parameters

body	- 0 for first body, 1 for second
transform	- the new transformation of the attachment

Only available in simulation mode

◆ setTranslationalDamping()

void MOMENTUM_NAMESPACE::Joint::setTranslationalDamping	(	DegreeOfFreedom	dof,
		double	damping
	)

inherited

Set the translational damping along the axis of the joint, in newton-seconds per meter.

Parameters

dof	the degree of freedom to set the damping of
damping	the new translational damping

Only available in simulation mode

◆ setTranslationalElasticity()

void MOMENTUM_NAMESPACE::Joint::setTranslationalElasticity	(	DegreeOfFreedom	dof,
		double	elasticity
	)

inherited

Set the translational elasticity along the axis of the joint, in newton per meter.

Parameters

dof	the degree of freedom to set the elasticity of
elasticity	the new translational elasticity

Only available in simulation mode

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ DegreeOfFreedom

Member Function Documentation

◆ asBallJoint()

◆ asCylindricalJoint()

◆ asHingeJoint()

◆ asLockJoint()

◆ asPrismaticJoint()

◆ asSpringJoint()

◆ getAgxRotationalDOF()

◆ getAgxTranslationalDOF()

◆ getBody()

◆ getBodyForce()

◆ getBodyTorque()

◆ getDampingInternal()

◆ getEnabled()

◆ getName()

◆ getRotationalDamping()

◆ getRotationalElasticity()

◆ getTransformation()

◆ getTranslationalDamping()

◆ getTranslationalElasticity()

◆ operator==()

◆ setDampingInternal()

◆ setEnabled()

◆ setRotationalDamping()

◆ setRotationalElasticity()

◆ setTransformation()

◆ setTranslationalDamping()

◆ setTranslationalElasticity()