HingeJoint Class Reference

Hinge Joint, a position constraint, and an orthogonality constraint. More...

#include "hinge_joint.hpp"

Public Member Functions
	HingeJoint (unsigned int indexA, vec3 anchorA, unsigned int indexB, vec3 anchorB, unsigned int axisA, unsigned int axisB, unsigned int axisC)
	Hinge Joint, a position constraint, and an orthogonality constraint. More...
int	applyImpulse ()
int	preStep (float dt)

Public Attributes
vec3	bias = vec3(0,0,0)
mat3	effective_mass = mat3(0.0f)
vec3	P = vec3(0,0,0)
vec2	bias2 = vec3(0,0,0)
mat2	effective_mass2 = mat2(0.0f)
vec2	P2 = vec2(0,0)
RigidBody *	body_a
RigidBody *	body_b
vec3	anchor_a
vec3	anchor_b
vec3	anchor_a_ws
vec3	anchor_b_ws
float	dt = 0.02f
unsigned int	body_a_index
unsigned int	body_b_index
unsigned int	axisA
unsigned int	axisB
unsigned int	axisC
bool	unset = true

Static Public Attributes
static vector< HingeJoint * >	allJoints

Detailed Description

Hinge Joint, a position constraint, and an orthogonality constraint.

Constructor & Destructor Documentation

HingeJoint()

HingeJoint::HingeJoint	(	unsigned int	indexA,
		vec3	anchorA,
		unsigned int	indexB,
		vec3	anchorB,
		unsigned int	axisA,
		unsigned int	axisB,
		unsigned int	axisC
	)

Hinge Joint, a position constraint, and an orthogonality constraint.

Parameters

[in]	indexA	ID of the first RigidBody.
[in]	anchorA	Local position on the first RigidBody.
[in]	indexB	ID of the second RigidBody.
[in]	anchorB	Local position on the second RigidBody.
[in]	axisA	Vector on the first RigidBody. (0, 1 or 2, for x,y,z respectively).
[in]	axisB	First Orthogonal vector on the second RigidBody. (0, 1 or 2, for x,y,z respectively).
[in]	axisC	Second Orthgonal vector on the second RigidBody. (0, 1 or 2, for x,y,z respectively).

Member Function Documentation

applyImpulse()

int HingeJoint::applyImpulse

(

)

preStep()

int HingeJoint::preStep

(

float

dt

)

Member Data Documentation

allJoints

vector<HingeJoint*> HingeJoint::allJoints

static

anchor_a

vec3 HingeJoint::anchor_a

anchor_a_ws

vec3 HingeJoint::anchor_a_ws

anchor_b

vec3 HingeJoint::anchor_b

anchor_b_ws

vec3 HingeJoint::anchor_b_ws

axisA

unsigned int HingeJoint::axisA

axisB

unsigned int HingeJoint::axisB

axisC

unsigned int HingeJoint::axisC

bias

vec3 HingeJoint::bias = vec3(0,0,0)

bias2

vec2 HingeJoint::bias2 = vec3(0,0,0)

body_a

RigidBody* HingeJoint::body_a

body_a_index

unsigned int HingeJoint::body_a_index

body_b

RigidBody* HingeJoint::body_b

body_b_index

unsigned int HingeJoint::body_b_index

dt

float HingeJoint::dt = 0.02f

effective_mass

mat3 HingeJoint::effective_mass = mat3(0.0f)

effective_mass2

mat2 HingeJoint::effective_mass2 = mat2(0.0f)

P

vec3 HingeJoint::P = vec3(0,0,0)

P2

vec2 HingeJoint::P2 = vec2(0,0)

unset

bool HingeJoint::unset = true

---

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

• include/hinge_joint.hpp