MOMENTUM_NAMESPACE::LinearSecondaryJoint Class Reference

#include <LinearSecondaryJoint.h>

Public Member Functions
double	getCurrentForce () const
double	getDamping () const
double	getElasticity () const
bool	getEnabled () const
std::pair< double, double >	getForceLimit () const
void	setDamping (double damping)
void	setElasticity (double elasticity)
void	setEnabled (bool enabled)
bool	setForceLimit (double lower, double upper)
bool	setForceLimit (std::pair< double, double > limit)

Detailed Description

A base class for motors, springs and ranges on linear constraints.

Member Function Documentation

getCurrentForce()

double MOMENTUM_NAMESPACE::LinearSecondaryJoint::getCurrentForce

(

)

const

Get the force that the secondary constraint is applying to the object at the moment.

Returns

the current force created by the constraint. Unit is in Newton.

getDamping()

double MOMENTUM_NAMESPACE::SecondaryJoint::getDamping ( ) const

inherited

Get the damping of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Returns

the current damping of the secondary constraint

getElasticity()

double MOMENTUM_NAMESPACE::SecondaryJoint::getElasticity ( ) const

inherited

Get the elasticity of the secondary constraint, depending if it is linear or rotational it is in different units, newton per meter for linear and newton per radian if it is rotational.

Returns

the current elasticity of the secondary constraint

getEnabled()

bool MOMENTUM_NAMESPACE::SecondaryJoint::getEnabled ( ) const

inherited

Get if the secondary constraint is enabled on its parent joint.

Returns

true if the constraint is enabled for simulation

getForceLimit()

std::pair< double, double > MOMENTUM_NAMESPACE::LinearSecondaryJoint::getForceLimit

(

)

const

Get the lower and upper force of the secondary constraint.

The unit is in Newton.

Returns

the current force range of the constraint

setDamping()

void MOMENTUM_NAMESPACE::SecondaryJoint::setDamping ( double  damping )

inherited

Set the damping of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Parameters

damping

the new damping of the secondary constraint

Only available in simulation mode

setElasticity()

void MOMENTUM_NAMESPACE::SecondaryJoint::setElasticity ( double  elasticity )

inherited

Set the elasticity of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Parameters

elasticity

the new elasticity of the secondary constraint

Only available in simulation mode

setEnabled()

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

inherited

Set if the secondary constraint is enabled on its parent joint.

Parameters

enabled

- the new enable state for the constraint

Only available in simulation mode

setForceLimit() [1/2]

bool MOMENTUM_NAMESPACE::LinearSecondaryJoint::setForceLimit	(	double	lower,
		double	upper
	)

Set the lower and upper force of the secondary constraint.

The unit is in Newton.

Both cannot be inf, or -inf, that will be ignored and the method will return false

Parameters

lower	- the new available force of the constraint in the negative direction
upper	- the new available force of the constraint in the positive direction

Only available in simulation mode

Returns

true if values are correct.

setForceLimit() [2/2]

bool MOMENTUM_NAMESPACE::LinearSecondaryJoint::setForceLimit

(

std::pair< double, double >

limit

)

Set the lower and upper force of the secondary constraint.

The unit is in Newton.

Both cannot be inf, or -inf, that will be ignored and the method will return false

Parameters

limit

- the new force range of the constraint

Only available in simulation mode

Returns

true if values are correct