A Universal Joint has one fixed relative point, the 3 translational dof's, and one constrained axis (the rotation around the N axis of each frame the bodies) More...

#include <UniversalJoint.h>

Inheritance diagram for agx::UniversalJoint:

Public Types
enum	CONTROLLER_DOF { NUM_CONTROLLER_OFFSET = 1 , ROTATIONAL_CONTROLLER_1 = 0 + NUM_CONTROLLER_OFFSET , ROTATIONAL_CONTROLLER_2 = 1 + NUM_CONTROLLER_OFFSET , NUM_CONTROLLER_DOF = 2 }
	Enum to access the controllers for unconstrained DOF's of the constraint. More...

enum	DOF { ALL_DOF = -1 , ROTATIONAL_1 = 0 , TRANSLATIONAL_1 = 1 , TRANSLATIONAL_2 = 2 , TRANSLATIONAL_3 = 3 , NUM_DOF = 4 }
	Enum used for specifying which Degree of Freedom (DOF) that should be accessed in calls to for example: constraint->getRegularizationParameters( dof ); constraint->setDamping( damping, dof );. More...

Public Types inherited from agx::Constraint
enum	SolveType { DIRECT = 1 , ITERATIVE = (1<<2) , DIRECT_AND_ITERATIVE = (DIRECT \| ITERATIVE) }
	Specifies in what solvers the constraint will be solved. More...

Public Member Functions
	UniversalJoint (agx::RigidBody rb1, agx::Frame rb1AttachmentFrame, agx::RigidBody rb2=nullptr, agx::Frame rb2AttachmentFrame=nullptr)
	Create a universal joint given attachment frames and one or two rigid bodies.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::UniversalJoint)

virtual UInt	getNumControllerOffset () const override
	Constraints in AGX allow for controllers for all non constraint angles.

virtual int	getNumControllers () const override

virtual int	getNumDOF () const override

Public Member Functions inherited from agx::AngularJointBase
	AngularJointBase (CreateElementaryConstraintsFunction createFunc, agx::RigidBody rb1, agx::Frame rb1AttachmentFrame, agx::RigidBody rb2=nullptr, agx::Frame rb2AttachmentFrame=nullptr)
	Create a angular joint given attachment frames and one or two rigid bodies.

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::AngularJointBase)

agx::Real	getAngle (UInt dof) const

agx::Real	getCurrentSpeed (UInt dof) const

agx::ElectricMotorController *	getElectricMotorController (UInt dof)

const agx::ElectricMotorController *	getElectricMotorController (UInt dof) const

agx::Lock1D *	getLock1D (UInt dof)

const agx::Lock1D *	getLock1D (UInt dof) const

agx::Motor1D *	getMotor1D (UInt dof)

const agx::Motor1D *	getMotor1D (UInt dof) const

virtual UInt	getNumControllerOffset () const =0
	The constraint definition allows for controllers at all constraint angles.

virtual int	getNumControllers () const =0

virtual int	getNumDOF () const override=0

agx::Real	getPhi () const

agx::Real	getPsi () const

agx::Range1D *	getRange1D (UInt dof)

const agx::Range1D *	getRange1D (UInt dof) const

agx::Real	getTheta () const
	Returns angle not controlled by controllers.

Public Member Functions inherited from agx::Constraint
agx::Bool	addElementaryConstraint (const agx::Name &name, agx::ElementaryConstraint *elementaryConstraint)
	Add elementary constraint (like Spherical, Dot1, Dot2 etc) given name.

agx::Bool	addSecondaryConstraint (const agx::Name &name, agx::ElementaryConstraint *secondaryConstraint)
	Add secondary constraint (like motor, range and/or lock etc) given name.

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::Constraint)

template<typename T >
T *	as ()
	Try to do dynamic_cast on the constraint and return a pointer to the casted constraint.

template<typename T >
const T *	as () const
	Try to do dynamic_cast on the constraint and return a pointer to the casted constraint.

RealVector	calculateCurrentViolation () const
	Calculates the current violation of the ordinary degrees of freedom of this constraint, e.g., three translational and two rotational (total 5 elements) of a hinge, i.e., controllers DOF are not included.

agx::UInt	calculateNumActiveRows () const
	Calculates the current number of active rows, including both elementary and secondary constraints.

template<typename T >
ref_ptr< T >	createFromBody (Vec3 bodyPoint, Vec3 bodyAxis, RigidBody rb1, RigidBody rb2)

template<typename T >
ref_ptr< T >	createFromWorld (Vec3 worldPoint, Vec3 worldAxis, RigidBody rb1, RigidBody rb2)

agx::Attachment *	getAttachment (agx::UInt i) const

agx::RigidBodyAttachment *	getAttachment (const agx::RigidBody *rb) const

agx::AttachmentPair *	getAttachmentPair () const

agx::RigidBody *	getBodyAt (agx::UInt i)

const agx::RigidBody *	getBodyAt (agx::UInt i) const

virtual agx::Real	getCompliance (agx::UInt dof) const
	Get the compliance for DOF i.

agx::Real	getCurrentForce (agx::UInt dof) const
	Consider using `getLastForce` instead.

virtual Real	getDamping (agx::UInt dof) const
	Get the damping for DOF `dof`.

virtual agx::Real	getElasticity (agx::UInt dof) const
	Get the elasticity for DOF i.

agx::ElementaryConstraint *	getElementaryConstraint (const agx::UInt index) const

agx::ElementaryConstraint *	getElementaryConstraintGivenName (const agx::Name &name) const
	Find elementary constraint given name.

agx::Bool	getEnable () const

agx::Bool	getEnableComputeForces () const

bool	getEnableDebugRendering () const

bool	getEnableLinearization () const

agx::UInt32	getEntityId () const

agx::RangeReal	getForceRange (agx::UInt dof=0) const
	Get the force range for DOF `dof`.

agx::Bool	getLastForce (agx::UInt bodyIndex, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with `bodyIndex`.

agx::Bool	getLastForce (const agx::RigidBody *rb, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body `rb`.

agx::Bool	getLastLocalForce (agx::UInt bodyIndex, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with `bodyIndex`.

agx::Bool	getLastLocalForce (const agx::RigidBody *rb, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body `rb`.

agx::UInt	getNumBodies () const
	returns the number of bodies involved

virtual int	getNumDOF () const =0

agx::UInt	getNumElementaryConstraints () const

agx::UInt	getNumSecondaryConstraints () const

virtual agx::RegularizationParameters *	getRegularizationParameters (agx::UInt i)

virtual const agx::RegularizationParameters *	getRegularizationParameters (agx::UInt i) const

agx::ConstraintImplementation *	getRep ()

const agx::ConstraintImplementation *	getRep () const

agx::ElementaryConstraint *	getSecondaryConstraint (const agx::UInt index) const

agx::ElementaryConstraint *	getSecondaryConstraintGivenName (const agx::Name &name) const
	Find secondary constraint given name.

agx::Constraint::SolveType	getSolveType () const

agx::Bool	getValid () const

agx::Bool	isEnabled () const

virtual agx::Bool	rebind ()
	Rebind this constraint, i.e., use current state as the initial configuration.

agx::Bool	removeElementaryConstraint (agx::ElementaryConstraint *elementaryConstraint)
	Remove elementary constraint.

agx::Bool	removeElementaryConstraint (const agx::Name &name)
	Remove elementary constraint.

agx::Bool	removeSecondaryConstraint (agx::ElementaryConstraint *secondaryConstraint)
	Remove secondary constraint.

agx::Bool	removeSecondaryConstraint (const agx::Name &name)
	Remove secondary constraint.

virtual void	render (class agxRender::RenderManager *mgr, float scale) const =0
	Inherited method of how to render this constraint into DebugRenderer.

void	restore (agxStream::InputArchive &in) override

virtual void	restoreLightData (agxStream::StorageStream &str) override

void	setCompliance (agx::Real compliance)
	Set the compliance of this constraint for all DOFs.

virtual void	setCompliance (agx::Real compliance, agx::Int dof)
	Set the compliance of this constraint for the i:th DOF.

void	setDamping (agx::Real damping)
	Set the damping of this constraint for all DOFs.

virtual void	setDamping (agx::Real damping, agx::Int dof)
	Set the damping of this constraint for the i:th DOF.

virtual void	setElasticity (agx::Real elasticity)
	Set the elasticity of this constraint for all DOFs.

virtual void	setElasticity (agx::Real elasticity, agx::Int dof)
	Set the elasticity of this constraint for the i:th DOF.

virtual void	setEnable (agx::Bool enable)
	Enable/disable a constraint.

void	setEnableComputeForces (agx::Bool enable)
	Enable (or disable) computation of the forces applied to the dynamic bodies in this constraint.

void	setEnableDebugRendering (agx::Bool enable)
	Enable/disable debug rendering of this constraint.

void	setEnableLinearization (bool enable)
	Pass `true` to enable linearization of constraint compliance.

void	setForceRange (agx::RangeReal forceRange)
	Assign force range for all DOF of the elementary constraints.

void	setForceRange (agx::RangeReal forceRange, agx::Int dof)
	Assign force range, of an elementary constraint, for a given DOF.

void	setForceRange (agx::Real lower, agx::Real upper, agx::Int dof)
	Assign force range, of an elementary constraint, for a given DOF.

void	setSolveType (agx::Constraint::SolveType solveType)
	Specify the solve type for this constraint.

void	store (agxStream::OutputArchive &out) const override

virtual void	storeLightData (agxStream::StorageStream &str) const override

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

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Interaction)

const agx::Name &	getName () const

agx::PropertyContainer *	getPropertyContainer ()

const agx::PropertyContainer *	getPropertyContainer () const

agxSDK::SimulationProxy *	getSimulationProxy () const

agx::Bool	hasPropertyContainer () const

virtual void	postSystemCallback (agx::DynamicsSystem *)
	Called after all post step events, after solve.

virtual void	preSystemCallback (agx::DynamicsSystem *)
	Called after all pre step events, before solve.

void	setName (const agx::Name &name)
	Name this interaction.

void	setPropertyContainer (agx::PropertyContainer *propertyContainer)
	Assign a new property container.

virtual void	updateForce (agx::DynamicsSystem *dynamicsSystem)
	This virtual method is implemented so that it computes the interaction forces on all the physical bodies implicated.

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 Public Member Functions inherited from agx::Constraint
static agx::Bool	calculateFramesFromBody (agx::Vec3 bodyPoint, agx::Vec3 bodyAxis, agx::Vec3 secondBodyAxis, const agx::RigidBody body, agx::Frame bodyFrame, const agx::RigidBody otherBody, agx::Frame otherFrame)
	Calculates the constraint attachment frames given point and axes in body coordinates of `body`.

static agx::Bool	calculateFramesFromBody (agx::Vec3 bodyPoint, agx::Vec3 bodyAxis, const agx::RigidBody body, agx::Frame bodyFrame, const agx::RigidBody otherBody, agx::Frame otherFrame)
	Calculates the constraint attachment frames given point and axis in body coordinates of `body`.

static agx::Bool	calculateFramesFromWorld (agx::Vec3 worldPoint, agx::Vec3 worldAxis, agx::Vec3 secondWorldAxis, const agx::RigidBody rb1, agx::Frame rb1Frame, const agx::RigidBody rb2, agx::Frame rb2Frame)
	Given a point and two axes in world, this function calculates each local attachment frame for one or two bodies.

static agx::Bool	calculateFramesFromWorld (agx::Vec3 worldPoint, agx::Vec3 worldAxis, const agx::RigidBody rb1, agx::Frame rb1Frame, const agx::RigidBody rb2, agx::Frame rb2Frame)
	Given a point and an axis in world, this function calculates each local attachment frame for one or two bodies.

template<typename T >
static agx::ref_ptr< T >	createFromBody (agx::Vec3 bodyPoint, agx::Vec3 bodyAxis, agx::RigidBody rb1, agx::RigidBody rb2=nullptr)
	Creates a constraint given a point and an axis in `rb1` model frame.

template<typename T >
static agx::ref_ptr< T >	createFromWorld (agx::Vec3 worldPoint, agx::Vec3 worldAxis, agx::RigidBody rb1, agx::RigidBody rb2=nullptr)
	Creates a constraint given a point and an axis in world frame.

Static Public Member Functions inherited from agx::Interaction
static agxStream::Serializable *	create (agxStream::InputArchive &)

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
	UniversalJoint ()

virtual	~UniversalJoint ()

Protected Member Functions inherited from agx::AngularJointBase
	AngularJointBase ()

	AngularJointBase (bool)

virtual	~AngularJointBase ()

virtual void	render (agxRender::RenderManager *mgr, float scale) const override
	Used internally for debug rendering.

Protected Member Functions inherited from agx::Constraint
	Constraint ()

virtual	~Constraint ()

virtual void	addNotification () override
	Called when added to a simulation.

virtual void	postSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called after all post step events, after solve.

virtual void	preSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called after all pre step events, before solve.

virtual void	removeNotification () override
	Called when removed from a simulation.

void	setRep (agx::ConstraintImplementation *_rep)

virtual void	setSimulation (agxSDK::Simulation *simulation) override
	Assign simulation.

virtual void	setSystem (agx::DynamicsSystem *)

Protected Member Functions inherited from agx::Interaction
virtual	~Interaction ()
	Reference counted object, protected destructor.

virtual void	addNotification ()
	Called when added to a simulation.

virtual void	removeNotification ()
	Called when removed from a simulation.

virtual void	setSimulation (agxSDK::Simulation *simulation)
	Assign simulation.

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 ()

Additional Inherited Members
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.

Protected Attributes inherited from agx::AngularJointBase
class AngularJointBaseImplementation *	m_implementation

Protected Attributes inherited from agx::Constraint
agx::ConstraintImplementation *	m_implementation

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

A Universal Joint has one fixed relative point, the 3 translational dof's, and one constrained axis (the rotation around the N axis of each frame the bodies)

Definition at line 28 of file UniversalJoint.h.

Member Enumeration Documentation

◆ CONTROLLER_DOF

enum agx::UniversalJoint::CONTROLLER_DOF

Enum to access the controllers for unconstrained DOF's of the constraint.

Since the universal joint inherits from the AngularJointBase, NUM_CONTROLLER_OFFSET is defined to be one. To loop over all controllers, start at NUM_CONTROLLER_OFFSET and loop until <= NUM_CONTROLLER_DOF.

Enumerator
NUM_CONTROLLER_OFFSET
ROTATIONAL_CONTROLLER_1
ROTATIONAL_CONTROLLER_2	Select first controller of the prismatic universal joint, control angle.
NUM_CONTROLLER_DOF	Select second controller of the prismatic universal joint, control angle.

Definition at line 51 of file UniversalJoint.h.

◆ DOF

enum agx::UniversalJoint::DOF

Enum used for specifying which Degree of Freedom (DOF) that should be accessed in calls to for example: constraint->getRegularizationParameters( dof ); constraint->setDamping( damping, dof );.

Enumerator
ALL_DOF	Select all degrees of freedom.
ROTATIONAL_1	An angular joint will always have one rotational degree of freedom controlled.
TRANSLATIONAL_1	Select DOF for the first translational axis.
TRANSLATIONAL_2	Select DOF for the second translational axis.
TRANSLATIONAL_3	Select DOF for the third translational axis.
NUM_DOF

Definition at line 36 of file UniversalJoint.h.

Constructor & Destructor Documentation

◆ UniversalJoint() [1/2]

agx::UniversalJoint::UniversalJoint	(	agx::RigidBody *	rb1,
		agx::Frame *	rb1AttachmentFrame,
		agx::RigidBody *	rb2 = `nullptr`,
		agx::Frame *	rb2AttachmentFrame = `nullptr`
	)

Create a universal joint given attachment frames and one or two rigid bodies.

An attachment is frame relative its body with the joint axis point in the z-direction.

Parameters

rb1	- First rigid body (invalid if null)
rb1AttachmentFrame	- First attachment frame (invalid if null)
rb2	- Second rigid body (if null, first rigid body will be attached in world)
rb2AttachmentFrame	- Second attachment frame

◆ UniversalJoint() [2/2]

agx::UniversalJoint::UniversalJoint ( )

protected

◆ ~UniversalJoint()

virtual agx::UniversalJoint::~UniversalJoint ( )

protectedvirtual

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::UniversalJoint::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::UniversalJoint )

◆ create()

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

inlinestatic

Definition at line 93 of file UniversalJoint.h.

◆ getNumControllerOffset()

virtual UInt agx::UniversalJoint::getNumControllerOffset ( ) const

overridevirtual

Constraints in AGX allow for controllers for all non constraint angles.

HOWEVER, for an angular joint, there is one angle not to be controlled, the first angle. When inheriting from the angular joint base an enum must define the controller indices for it to be possible to index the controllers. This enum will then have to start with its first value at the value of the number of non controlled angles

One (1) is recommended as offset. The constraint inheriting defines its non controlled angle first, and then all the controlled. (Defining the angle is done by adding it to the attachment pair in the ::createFunc)

Returns: the offset in the number of controllers

Implements agx::AngularJointBase.

◆ getNumControllers()

virtual int agx::UniversalJoint::getNumControllers ( ) const

overridevirtual

Returns: the number of controller controlled degrees of freedom.

Implements agx::AngularJointBase.

◆ getNumDOF()

virtual int agx::UniversalJoint::getNumDOF ( ) const

overridevirtual

Returns: the number of DOF for this constraint, not including secondary constraints. -1 if num DOF is undefined for the constraint.

Implements agx::AngularJointBase.

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

UniversalJoint.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ CONTROLLER_DOF

◆ DOF

Constructor & Destructor Documentation

◆ UniversalJoint() [1/2]

◆ UniversalJoint() [2/2]

◆ ~UniversalJoint()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create()

◆ getNumControllerOffset()

◆ getNumControllers()

◆ getNumDOF()