MOMENTUM_NAMESPACE::Joint Class Reference

#include <Joint.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 (DegreeOfFreedom) const
virtual int	getAgxTranslationalDOF (DegreeOfFreedom) const
agx::Real	getDampingInternal (int agxDOF) const
void	setDampingInternal (int agxDOF, double damping)

Detailed Description

Base class for all joints.

A Joint can constraint one or more degrees of freedom between one body and the world, or two bodies.

Member Enumeration Documentation

DegreeOfFreedom

enum MOMENTUM_NAMESPACE::Joint::DegreeOfFreedom

Enumerator
X
Y
Z

Member Function Documentation

asBallJoint()

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

(

)

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

(

)

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

(

)

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

(

)

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

(

)

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

(

)

Returns

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

getAgxRotationalDOF()

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

protectedvirtual

Reimplemented in MOMENTUM_NAMESPACE::BallJoint, MOMENTUM_NAMESPACE::CylindricalJoint, MOMENTUM_NAMESPACE::HingeJoint, MOMENTUM_NAMESPACE::LockJoint, MOMENTUM_NAMESPACE::PrismaticJoint, and MOMENTUM_NAMESPACE::SpringJoint.

getAgxTranslationalDOF()

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

protectedvirtual

Reimplemented in MOMENTUM_NAMESPACE::BallJoint, MOMENTUM_NAMESPACE::CylindricalJoint, MOMENTUM_NAMESPACE::HingeJoint, MOMENTUM_NAMESPACE::LockJoint, MOMENTUM_NAMESPACE::PrismaticJoint, and MOMENTUM_NAMESPACE::SpringJoint.

getBody()

std::shared_ptr< RigidBody > MOMENTUM_NAMESPACE::Joint::getBody

(

int

body

)

const

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

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

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

protected

getEnabled()

bool MOMENTUM_NAMESPACE::Joint::getEnabled

(

)

const

Is the joint is enabled?

Returns

if the joint is enabled for simulation

getName()

std::string MOMENTUM_NAMESPACE::Joint::getName

(

)

const

Get the name of the Joint.

Returns

the name of the joint

getRotationalDamping()

double MOMENTUM_NAMESPACE::Joint::getRotationalDamping

(

DegreeOfFreedom

dof

)

const

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

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

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

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

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

setDampingInternal()

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

protected

setEnabled()

void MOMENTUM_NAMESPACE::Joint::setEnabled

(

bool

enabled

)

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
	)

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
	)

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
	)

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
	)

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
	)

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