Implementation of constraint angle ABOUT an axis. More...

#include <ConstraintAngle.h>

Inheritance diagram for agx::RotationalAngle:

Public Member Functions
	RotationalAngle (agx::Angle::Axis axis, agx::Real initialAngle=agx::Real(0))
	Construct given axis and initial angle.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::RotationalAngle)

agx::Real	getLastAngle () const

agx::Int	getWindingNumber () const

virtual void	onPostSolve (const agx::AttachmentPair &ap, agx::Real dt) override
	Updates winding number given angular speed about our axis.

virtual void	restoreLightData (agxStream::StorageStream &str) override
	Restore structural independent data from stream.

void	setLastAngle (agx::Real lastAngle)
	Set the last angle between (-pi, +pi) (winding number NOT included)

void	setWindingNumber (agx::Int windingNumber)
	Use with caution since each values of `windingNumber` represent plus or minus 360 degrees of the joint angle (e.g, affecting locks and ranges).

virtual void	storeLightData (agxStream::StorageStream &str) const override
	Store structural independent data to stream.

virtual void	transform (const agx::AttachmentPair &ap) override
	Update value given constraint pair.

Public Member Functions inherited from agx::Angle
	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::Angle)

agx::Angle::Axis	getAxis () const

virtual const agx::Vec3 &	getDir (const agx::AttachmentPair &ap, agx::UInt index) const

agx::Angle::Type	getType () const

agx::Real	getValue () const

virtual void	onPostSolve (const agx::AttachmentPair &ap, agx::Real dt)
	Post solvers, velocity dependent variables should be updated.

virtual void	restore (agxStream::InputArchive &in) override
	Restore given stream.

virtual void	restoreLightData (agxStream::StorageStream &str) override
	Restore structural independent data from stream.

virtual void	store (agxStream::OutputArchive &out) const override
	Store given stream.

virtual void	storeLightData (agxStream::StorageStream &str) const override
	Store structural independent data to stream.

virtual void	transform (const agx::AttachmentPair &ap)
	Transform method to update the value of this angle.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

static agx::RotationalAngle *	safeCast (const agx::Angle *angle)
	Utility cast method.

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
	RotationalAngle ()
	Default constructor used during restore.

virtual	~RotationalAngle ()
	Reference counted object, protected destructor.

virtual void	stepAbout (const agx::Vec3 &worldAxis, const AttachmentPair &ap, agx::Real dt)
	Integrate/step parameters given world axis.

virtual void	stepBy (agx::Real deltaAngle)
	Integrate/step parameters given a delta angle.

virtual void	transformImpl (const agx::AttachmentPair &ap, bool firstIsReference)
	The default behavior is that the first attachment is the reference frame.

Protected Member Functions inherited from agx::Angle
	Angle (agx::Angle::Axis axis, agx::Angle::Type type, agx::Real initialAngle=agx::Real(0))
	Construct given axis and initial angle.

virtual	~Angle ()
	Reference counted object, protected destructor.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Protected Attributes
agx::Real	m_lastAngle

agx::Int	m_windingNumber

Protected Attributes inherited from agx::Angle
Axis	m_axis

Type	m_type

agx::Real	m_value

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
Public Types inherited from agx::Angle
enum	Axis { U , V , N }
	Axis this constraint angle is defined about or along. More...

enum	Type { TRANSLATIONAL , ROTATIONAL }
	Type, i.e., defines `Axis` as 'along' or 'about'. More...

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Detailed Description

Implementation of constraint angle ABOUT an axis.

Definition at line 134 of file ConstraintAngle.h.

Constructor & Destructor Documentation

◆ RotationalAngle() [1/2]

agx::RotationalAngle::RotationalAngle	(	agx::Angle::Axis	axis,
		agx::Real	initialAngle = `agx::Real(0)`
	)

Construct given axis and initial angle.

Note that the given initialAngle has to match the angle of the frames in the attachment pair this angle belongs to.

Parameters

axis	- axis this angle is defined about
initialAngle	- initial angle

◆ RotationalAngle() [2/2]

agx::RotationalAngle::RotationalAngle ( )

protected

Default constructor used during restore.

◆ ~RotationalAngle()

virtual agx::RotationalAngle::~RotationalAngle ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::RotationalAngle::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::RotationalAngle )

◆ create()

static agxStream::Serializable * agx::RotationalAngle::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 187 of file ConstraintAngle.h.

◆ getLastAngle()

agx::Real agx::RotationalAngle::getLastAngle ( ) const

Returns: the previous angle (-pi, +pi) (winding number NOT included)

◆ getWindingNumber()

agx::Int agx::RotationalAngle::getWindingNumber ( ) const

Returns: the winding number

◆ onPostSolve()

virtual void agx::RotationalAngle::onPostSolve	(	const agx::AttachmentPair &	ap,
		agx::Real	dt
	)

overridevirtual

Updates winding number given angular speed about our axis.

Parameters

ap	- attachment pair of this angle
dt	- time step size

Reimplemented from agx::Angle.

◆ restoreLightData()

virtual void agx::RotationalAngle::restoreLightData ( agxStream::StorageStream & str )

overridevirtual

Restore structural independent data from stream.

Reimplemented from agx::Angle.

◆ safeCast()

static agx::RotationalAngle * agx::RotationalAngle::safeCast ( const agx::Angle * angle )

static

Utility cast method.

◆ setLastAngle()

void agx::RotationalAngle::setLastAngle ( agx::Real lastAngle )

Set the last angle between (-pi, +pi) (winding number NOT included)

Parameters

lastAngle - will be clamped in range (-pi, +pi) if outside

◆ setWindingNumber()

void agx::RotationalAngle::setWindingNumber ( agx::Int windingNumber )

Use with caution since each values of windingNumber represent plus or minus 360 degrees of the joint angle (e.g, affecting locks and ranges).

Parameters

windingNumber - new windingNumber

◆ stepAbout()

virtual void agx::RotationalAngle::stepAbout	(	const agx::Vec3 &	worldAxis,
		const AttachmentPair &	ap,
		agx::Real	dt
	)

protectedvirtual

Integrate/step parameters given world axis.

The world axis is used to determine the rotation speed about the given reference axis and then the delta angle.

Parameters

worldAxis	- world (rotation) axis
ap	- attachment pair of this angle
dt	- time step size

◆ stepBy()

virtual void agx::RotationalAngle::stepBy ( agx::Real deltaAngle )

protectedvirtual

Integrate/step parameters given a delta angle.

The world axis of the first attachment is used as rotation axis.

Parameters

deltaAngle - delta angle (any sign, any value)

◆ storeLightData()

virtual void agx::RotationalAngle::storeLightData ( agxStream::StorageStream & str ) const

overridevirtual

Store structural independent data to stream.

Reimplemented from agx::Angle.

◆ transform()

virtual void agx::RotationalAngle::transform ( const agx::AttachmentPair & ap )

overridevirtual

Update value given constraint pair.

Reimplemented from agx::Angle.

◆ transformImpl()

virtual void agx::RotationalAngle::transformImpl	(	const agx::AttachmentPair &	ap,
		bool	firstIsReference
	)

protectedvirtual

The default behavior is that the first attachment is the reference frame.

If firstIsReference = false, the angle will be calculated using the second attachment frame as the fixed frame. The default transform override is just channeling to this as transform( ap, true ).

Parameters

ap	- attachment pair of this angle
firstIsReference	- default behavior of constraints is firstIsReference = true, if false the second attachment in `ap` will be used as the reference

Member Data Documentation

◆ m_lastAngle

agx::Real agx::RotationalAngle::m_lastAngle

protected

Definition at line 240 of file ConstraintAngle.h.

◆ m_windingNumber

agx::Int agx::RotationalAngle::m_windingNumber

protected

Definition at line 239 of file ConstraintAngle.h.

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

ConstraintAngle.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RotationalAngle() [1/2]

◆ RotationalAngle() [2/2]

◆ ~RotationalAngle()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create()

◆ getLastAngle()

◆ getWindingNumber()

◆ onPostSolve()

◆ restoreLightData()

◆ safeCast()

◆ setLastAngle()

◆ setWindingNumber()

◆ stepAbout()

◆ stepBy()

◆ storeLightData()

◆ transform()

◆ transformImpl()

Member Data Documentation

◆ m_lastAngle

◆ m_windingNumber