SphericalJoint Class Reference

Ball-in-socket Joint, specifying an anchor on each body will constrain the two bodies at those points. More...

#include "spherical_joint.hpp"

Public Member Functions
	SphericalJoint (unsigned int indexA, vec3 anchorA, unsigned int indexB, vec3 anchorB)
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)
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
bool	unset = true

Static Public Attributes
static vector< SphericalJoint * >	allJoints

Detailed Description

Ball-in-socket Joint, specifying an anchor on each body will constrain the two bodies at those points.

Constructor & Destructor Documentation

SphericalJoint()

SphericalJoint::SphericalJoint	(	unsigned int	indexA,
		vec3	anchorA,
		unsigned int	indexB,
		vec3	anchorB
	)

Member Function Documentation

applyImpulse()

int SphericalJoint::applyImpulse

(

)

preStep()

int SphericalJoint::preStep

(

float

dt

)

Member Data Documentation

allJoints

vector<SphericalJoint*> SphericalJoint::allJoints

static

anchor_a

vec3 SphericalJoint::anchor_a

anchor_a_ws

vec3 SphericalJoint::anchor_a_ws

anchor_b

vec3 SphericalJoint::anchor_b

anchor_b_ws

vec3 SphericalJoint::anchor_b_ws

bias

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

body_a

RigidBody* SphericalJoint::body_a

body_a_index

unsigned int SphericalJoint::body_a_index

body_b

RigidBody* SphericalJoint::body_b

body_b_index

unsigned int SphericalJoint::body_b_index

dt

float SphericalJoint::dt = 0.02f

effective_mass

mat3 SphericalJoint::effective_mass = mat3(0.0f)

P

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

unset

bool SphericalJoint::unset = true

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

• include/spherical_joint.hpp