#include <JointPhysics.h>

Public Member Functions
	JointPhysics (interfaces::PhysicsInterface *world)
	the constructor More...

virtual	~JointPhysics (void)
	the destructor More...

virtual bool	createJoint (interfaces::JointData joint, const interfaces::NodeInterface node1, const interfaces::NodeInterface *node2)
	create Joint getting as argument the JointData which give the joint informations. More...

virtual void	getAnchor (utils::Vector *anchor) const
	get the anchor of the joint More...

virtual void	setAnchor (const utils::Vector &anchor)
	set the anchor i.e. the position where the joint is created of the joint More...

virtual void	setAxis (const utils::Vector &axis)
	set the world informations More...

virtual void	setAxis2 (const utils::Vector &axis)
	Set the Axis2 of the Joint. More...

virtual void	getAxis (utils::Vector *axis) const
	Gets the actual axis of a joint. More...

virtual void	getAxis2 (utils::Vector *axis) const
	Gets the actual second axis of a joint. More...

virtual void	setWorldObject (interfaces::PhysicsInterface *world)
	set the world informations More...

virtual void	setForceLimit (interfaces::sReal max_force)

virtual void	setForceLimit2 (interfaces::sReal max_force)

virtual void	setVelocity (interfaces::sReal velocity)

virtual void	setVelocity2 (interfaces::sReal velocity)

virtual interfaces::sReal	getVelocity (void) const

virtual interfaces::sReal	getVelocity2 (void) const

virtual void	setJointAsMotor (int axis)

virtual void	unsetJointAsMotor (int axis)

virtual interfaces::sReal	getPosition (void) const

virtual interfaces::sReal	getPosition2 (void) const

virtual void	getForce1 (utils::Vector *f) const
	Gets the force the joint applies to the first body. More...

virtual void	getForce2 (utils::Vector *f) const
	Gets the force the joint applies to the second body. More...

virtual void	getTorque1 (utils::Vector *t) const
	Gets the torque the joint applies to the first body. More...

virtual void	getTorque2 (utils::Vector *t) const
	Gets the torque the joint applies to the second body. More...

virtual void	setTorque (interfaces::sReal torque)

virtual void	setTorque2 (interfaces::sReal torque)

virtual void	reattacheJoint (void)
	reset the achor to the actual position. More...

virtual void	update (void)
	we need to calculate the axis torques and joint load before we can return it. More...

virtual void	getJointLoad (utils::Vector *t) const

virtual void	getAxisTorque (utils::Vector *t) const
	Return the torque vector for the first axis of the joint. More...

virtual void	getAxis2Torque (utils::Vector *t) const

virtual void	changeStepSize (const interfaces::JointData &jointS)

virtual interfaces::sReal	getMotorTorque (void) const

virtual interfaces::sReal	getLowStop () const

virtual interfaces::sReal	getHighStop () const

virtual interfaces::sReal	getLowStop2 () const

virtual interfaces::sReal	getHighStop2 () const

virtual void	setLowStop (interfaces::sReal lowStop)

virtual void	setHighStop (interfaces::sReal highStop)

virtual void	setLowStop2 (interfaces::sReal lowStop2)

virtual void	setHighStop2 (interfaces::sReal highStop2)

Public Member Functions inherited from mars::interfaces::JointInterface
virtual	~JointInterface ()

Private Member Functions
void	calculateCfmErp (const interfaces::JointData *jointS)

void	createHinge (interfaces::JointData *jointS, dBodyID body1, dBodyID body2)
	create a joint from type Hing More...

void	createHinge2 (interfaces::JointData *jointS, dBodyID body1, dBodyID body2)
	Creates a hinge2 joint in the physical environment. More...

void	createSlider (interfaces::JointData *jointS, dBodyID body1, dBodyID body2)

void	createBall (interfaces::JointData *jointS, dBodyID body1, dBodyID body2)

void	createUniversal (interfaces::JointData *jointS, dBodyID body1, dBodyID body2)
	Creates a universal joint in the physical environment. More...

void	createFixed (interfaces::JointData *jointS, dBodyID body1, dBodyID body2)
	Creates a fixed joint in the physical environment. More...

Private Attributes
WorldPhysics *	theWorld

dJointID	jointId

dJointID	ball_motor

dJointFeedback	feedback

dBodyID	body1

dBodyID	body2

int	joint_type

dReal	cfm

dReal	cfm1

dReal	cfm2

dReal	erp1

dReal	erp2

dReal	lo1

dReal	lo2

dReal	hi1

dReal	hi2

dReal	damping

dReal	spring

dReal	jointCFM

utils::Vector	axis1_torque

utils::Vector	axis2_torque

utils::Vector	joint_load

dReal	motor_torque

Detailed Description

Definition at line 36 of file JointPhysics.h.

Constructor & Destructor Documentation

◆ JointPhysics()

mars::sim::JointPhysics::JointPhysics ( interfaces::PhysicsInterface * world )

the constructor

the constructor of the Joint physics initialize the attributes of the object

Definition at line 48 of file JointPhysics.cpp.

◆ ~JointPhysics()

mars::sim::JointPhysics::~JointPhysics ( void )

virtual

the destructor

Destroys the joint in the physics world.

pre:

theWorld is the correct world object

post:

all physical representation of the joint should be cleared

Definition at line 69 of file JointPhysics.cpp.

Member Function Documentation

◆ calculateCfmErp()

void mars::sim::JointPhysics::calculateCfmErp ( const interfaces::JointData * jointS )

private

Definition at line 77 of file JointPhysics.cpp.

◆ changeStepSize()

void mars::sim::JointPhysics::changeStepSize ( const interfaces::JointData & jointS )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1189 of file JointPhysics.cpp.

◆ createBall()

void mars::sim::JointPhysics::createBall	(	interfaces::JointData *	jointS,
		dBodyID	body1,
		dBodyID	body2
	)

private

Definition at line 427 of file JointPhysics.cpp.

◆ createFixed()

void mars::sim::JointPhysics::createFixed	(	interfaces::JointData *	jointS,
		dBodyID	body1,
		dBodyID	body2
	)

private

Creates a fixed joint in the physical environment.

For static fixed objects a same group id is prefered, the fixed joint should only be used to dynamically connect and unconnect nodes.

pre:

body1 and/or body2 should be aviable

post:

a fixed joint should be created and connected to the bodies

Definition at line 1085 of file JointPhysics.cpp.

◆ createHinge()

void mars::sim::JointPhysics::createHinge	(	interfaces::JointData *	jointS,
		dBodyID	body1,
		dBodyID	body2
	)

private

create a joint from type Hing

Creates a hinge joint in the physical environment.

We get a problem here. There two different way how a hinge joint can be used. First is can be used only as joint. So we should set the low and height stop to zero and use the stopcfm and stoperp values to simulate the spring-damping properties of the joint. The second case is, to use the hinge to simulate a motor. I don't know how the ode behavior will look like, if we set the same parameter and use the force and velocity params to simulate a motor.

Definition at line 322 of file JointPhysics.cpp.

◆ createHinge2()

void mars::sim::JointPhysics::createHinge2	(	interfaces::JointData *	jointS,
		dBodyID	body1,
		dBodyID	body2
	)

private

Creates a hinge2 joint in the physical environment.

pre:

body1 and body2 should be aviable

post:

a hinge2 joint should be created and connected to the bodies

Definition at line 366 of file JointPhysics.cpp.

◆ createJoint()

bool mars::sim::JointPhysics::createJoint	(	interfaces::JointData *	joint,
		const interfaces::NodeInterface *	node1,
		const interfaces::NodeInterface *	node2
	)

virtual

create Joint getting as argument the JointData which give the joint informations.

create the joint with the informations giving from jointS

Implements mars::interfaces::JointInterface.

Definition at line 110 of file JointPhysics.cpp.

◆ createSlider()

void mars::sim::JointPhysics::createSlider	(	interfaces::JointData *	jointS,
		dBodyID	body1,
		dBodyID	body2
	)

private

Definition at line 400 of file JointPhysics.cpp.

◆ createUniversal()

void mars::sim::JointPhysics::createUniversal	(	interfaces::JointData *	jointS,
		dBodyID	body1,
		dBodyID	body2
	)

private

Creates a universal joint in the physical environment.

pre:

body1 and body2 should be aviable

post:

a universal joint should be created and connected to the bodies

Definition at line 477 of file JointPhysics.cpp.

◆ getAnchor()

void mars::sim::JointPhysics::getAnchor ( utils::Vector * anchor ) const

virtual

get the anchor of the joint

Implements mars::interfaces::JointInterface.

Definition at line 175 of file JointPhysics.cpp.

◆ getAxis()

void mars::sim::JointPhysics::getAxis ( utils::Vector * axis ) const

virtual

Gets the actual axis of a joint.

pre:

the joint should be created and should have a axis vector

post:

the given axis struct should be filled with correct values

Implements mars::interfaces::JointInterface.

Definition at line 618 of file JointPhysics.cpp.

◆ getAxis2()

void mars::sim::JointPhysics::getAxis2 ( utils::Vector * axis ) const

virtual

Gets the actual second axis of a joint.

pre:

the joint should be created and should have second axis vector

post:

the given axis struct should be filled with correct values

Implements mars::interfaces::JointInterface.

Definition at line 656 of file JointPhysics.cpp.

◆ getAxis2Torque()

void mars::sim::JointPhysics::getAxis2Torque ( utils::Vector * t ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 902 of file JointPhysics.cpp.

◆ getAxisTorque()

void mars::sim::JointPhysics::getAxisTorque ( utils::Vector * t ) const

virtual

Return the torque vector for the first axis of the joint.

v1[0] = b1_pos[0] - anchor[0]; v1[1] = b1_pos[1] - anchor[1]; v1[2] = b1_pos[2] - anchor[2]; radius = dSqrt(v1[0]*v1[0]+ v1[1]*v1[1]+ v1[2]*v1[2]); normal[0] = axis[1]*v1[2] - axis[2]*v1[1]; normal[1] = -axis[0]*v1[2] + axis[2]*v1[0]; normal[2] = axis[0]*v1[1] - axis[1]*v1[0]; dot = (normal[0]*feedback.f1[0]+ normal[1]*feedback.f1[1]+ normal[2]*feedback.f1[2]); normal[0] *= dot*radius; normal[1] *= dot*radius; normal[2] *= dot*radius;

Implements mars::interfaces::JointInterface.

Definition at line 896 of file JointPhysics.cpp.

◆ getForce1()

void mars::sim::JointPhysics::getForce1 ( utils::Vector * f ) const

virtual

Gets the force the joint applies to the first body.

pre:

the joint should be created

post:

Implements mars::interfaces::JointInterface.

Definition at line 776 of file JointPhysics.cpp.

◆ getForce2()

void mars::sim::JointPhysics::getForce2 ( utils::Vector * f ) const

virtual

Gets the force the joint applies to the second body.

pre:

the joint should be created

post:

Implements mars::interfaces::JointInterface.

Definition at line 791 of file JointPhysics.cpp.

◆ getHighStop()

interfaces::sReal mars::sim::JointPhysics::getHighStop ( ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1317 of file JointPhysics.cpp.

◆ getHighStop2()

interfaces::sReal mars::sim::JointPhysics::getHighStop2 ( ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1343 of file JointPhysics.cpp.

◆ getJointLoad()

void mars::sim::JointPhysics::getJointLoad ( utils::Vector * t ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1067 of file JointPhysics.cpp.

◆ getLowStop()

interfaces::sReal mars::sim::JointPhysics::getLowStop ( ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1302 of file JointPhysics.cpp.

◆ getLowStop2()

interfaces::sReal mars::sim::JointPhysics::getLowStop2 ( ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1332 of file JointPhysics.cpp.

◆ getMotorTorque()

sReal mars::sim::JointPhysics::getMotorTorque ( void ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1298 of file JointPhysics.cpp.

◆ getPosition()

sReal mars::sim::JointPhysics::getPosition ( void ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 277 of file JointPhysics.cpp.

◆ getPosition2()

sReal mars::sim::JointPhysics::getPosition2 ( void ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 297 of file JointPhysics.cpp.

◆ getTorque1()

void mars::sim::JointPhysics::getTorque1 ( utils::Vector * t ) const

virtual

Gets the torque the joint applies to the first body.

pre:

the joint should be created

post:

Implements mars::interfaces::JointInterface.

Definition at line 806 of file JointPhysics.cpp.

◆ getTorque2()

void mars::sim::JointPhysics::getTorque2 ( utils::Vector * t ) const

virtual

Gets the torque the joint applies to the second body.

pre:

the joint should be created

post:

Implements mars::interfaces::JointInterface.

Definition at line 821 of file JointPhysics.cpp.

◆ getVelocity()

sReal mars::sim::JointPhysics::getVelocity ( void ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1098 of file JointPhysics.cpp.

◆ getVelocity2()

sReal mars::sim::JointPhysics::getVelocity2 ( void ) const

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1123 of file JointPhysics.cpp.

◆ reattacheJoint()

void mars::sim::JointPhysics::reattacheJoint ( void )

virtual

reset the achor to the actual position.

If a Node is moved or rotated by the editor, this function resets the constrains the joint applies to the Nodes that are connected.

pre:

the joint should be created

post:

Implements mars::interfaces::JointInterface.

Definition at line 838 of file JointPhysics.cpp.

◆ setAnchor()

void mars::sim::JointPhysics::setAnchor ( const utils::Vector & anchor )

virtual

set the anchor i.e. the position where the joint is created of the joint

Implements mars::interfaces::JointInterface.

Definition at line 520 of file JointPhysics.cpp.

◆ setAxis()

void mars::sim::JointPhysics::setAxis ( const utils::Vector & axis )

virtual

set the world informations

Set the Axis of the Joint to a new position.

pre:

post:

Implements mars::interfaces::JointInterface.

Definition at line 553 of file JointPhysics.cpp.

◆ setAxis2()

void mars::sim::JointPhysics::setAxis2 ( const utils::Vector & axis )

virtual

Set the Axis2 of the Joint.

pre:

post:

Implements mars::interfaces::JointInterface.

Definition at line 585 of file JointPhysics.cpp.

◆ setForceLimit()

void mars::sim::JointPhysics::setForceLimit ( interfaces::sReal max_force )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 205 of file JointPhysics.cpp.

◆ setForceLimit2()

void mars::sim::JointPhysics::setForceLimit2 ( interfaces::sReal max_force )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 224 of file JointPhysics.cpp.

◆ setHighStop()

void mars::sim::JointPhysics::setHighStop ( interfaces::sReal highStop )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1372 of file JointPhysics.cpp.

◆ setHighStop2()

void mars::sim::JointPhysics::setHighStop2 ( interfaces::sReal highStop2 )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1402 of file JointPhysics.cpp.

◆ setJointAsMotor()

void mars::sim::JointPhysics::setJointAsMotor ( int axis )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 690 of file JointPhysics.cpp.

◆ setLowStop()

void mars::sim::JointPhysics::setLowStop ( interfaces::sReal lowStop )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1354 of file JointPhysics.cpp.

◆ setLowStop2()

void mars::sim::JointPhysics::setLowStop2 ( interfaces::sReal lowStop2 )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1390 of file JointPhysics.cpp.

◆ setTorque()

void mars::sim::JointPhysics::setTorque ( interfaces::sReal torque )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1146 of file JointPhysics.cpp.

◆ setTorque2()

void mars::sim::JointPhysics::setTorque2 ( interfaces::sReal torque )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 1169 of file JointPhysics.cpp.

◆ setVelocity()

void mars::sim::JointPhysics::setVelocity ( interfaces::sReal velocity )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 241 of file JointPhysics.cpp.

◆ setVelocity2()

void mars::sim::JointPhysics::setVelocity2 ( interfaces::sReal velocity )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 260 of file JointPhysics.cpp.

◆ setWorldObject()

void mars::sim::JointPhysics::setWorldObject ( interfaces::PhysicsInterface * world )

virtual

set the world informations

Implements mars::interfaces::JointInterface.

Definition at line 686 of file JointPhysics.cpp.

◆ unsetJointAsMotor()

void mars::sim::JointPhysics::unsetJointAsMotor ( int axis )

virtual

Implements mars::interfaces::JointInterface.

Definition at line 733 of file JointPhysics.cpp.

◆ update()

void mars::sim::JointPhysics::update ( void )

virtual

we need to calculate the axis torques and joint load before we can return it.

Implements mars::interfaces::JointInterface.

Definition at line 913 of file JointPhysics.cpp.

Member Data Documentation

◆ axis1_torque

utils::Vector mars::sim::JointPhysics::axis1_torque

private

Definition at line 99 of file JointPhysics.h.

◆ axis2_torque

utils::Vector mars::sim::JointPhysics::axis2_torque

private

Definition at line 99 of file JointPhysics.h.

◆ ball_motor

dJointID mars::sim::JointPhysics::ball_motor

private

Definition at line 92 of file JointPhysics.h.

◆ body1

dBodyID mars::sim::JointPhysics::body1

private

Definition at line 94 of file JointPhysics.h.

◆ body2

dBodyID mars::sim::JointPhysics::body2

private

Definition at line 94 of file JointPhysics.h.

◆ cfm

dReal mars::sim::JointPhysics::cfm

private

Definition at line 96 of file JointPhysics.h.

◆ cfm1

dReal mars::sim::JointPhysics::cfm1

private

Definition at line 96 of file JointPhysics.h.

◆ cfm2

dReal mars::sim::JointPhysics::cfm2

private

Definition at line 96 of file JointPhysics.h.

◆ damping

dReal mars::sim::JointPhysics::damping

private

Definition at line 98 of file JointPhysics.h.

◆ erp1

dReal mars::sim::JointPhysics::erp1

private

Definition at line 96 of file JointPhysics.h.

◆ erp2

dReal mars::sim::JointPhysics::erp2

private

Definition at line 96 of file JointPhysics.h.

◆ feedback

dJointFeedback mars::sim::JointPhysics::feedback

private

Definition at line 93 of file JointPhysics.h.

◆ hi1

dReal mars::sim::JointPhysics::hi1

private

Definition at line 97 of file JointPhysics.h.

◆ hi2

dReal mars::sim::JointPhysics::hi2

private

Definition at line 97 of file JointPhysics.h.

◆ joint_load

utils::Vector mars::sim::JointPhysics::joint_load

private

Definition at line 99 of file JointPhysics.h.

◆ joint_type

int mars::sim::JointPhysics::joint_type

private

Definition at line 95 of file JointPhysics.h.

◆ jointCFM

dReal mars::sim::JointPhysics::jointCFM

private

Definition at line 98 of file JointPhysics.h.

◆ jointId

dJointID mars::sim::JointPhysics::jointId

private

Definition at line 92 of file JointPhysics.h.

◆ lo1

dReal mars::sim::JointPhysics::lo1

private

Definition at line 97 of file JointPhysics.h.

◆ lo2

dReal mars::sim::JointPhysics::lo2

private

Definition at line 97 of file JointPhysics.h.

◆ motor_torque

dReal mars::sim::JointPhysics::motor_torque

private

Definition at line 100 of file JointPhysics.h.

◆ spring

dReal mars::sim::JointPhysics::spring

private

Definition at line 98 of file JointPhysics.h.

◆ theWorld

WorldPhysics* mars::sim::JointPhysics::theWorld

private

Definition at line 91 of file JointPhysics.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/physics/JointPhysics.h
/Developer/bob-learning-dev/simulation/mars/sim/src/physics/JointPhysics.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JointPhysics()

◆ ~JointPhysics()

Member Function Documentation

◆ calculateCfmErp()

◆ changeStepSize()

◆ createBall()

◆ createFixed()

◆ createHinge()

◆ createHinge2()

◆ createJoint()

◆ createSlider()

◆ createUniversal()

◆ getAnchor()

◆ getAxis()

◆ getAxis2()

◆ getAxis2Torque()

◆ getAxisTorque()

◆ getForce1()

◆ getForce2()

◆ getHighStop()

◆ getHighStop2()

◆ getJointLoad()

◆ getLowStop()

◆ getLowStop2()

◆ getMotorTorque()

◆ getPosition()

◆ getPosition2()

◆ getTorque1()

◆ getTorque2()

◆ getVelocity()

◆ getVelocity2()

◆ reattacheJoint()

◆ setAnchor()

◆ setAxis()

◆ setAxis2()

◆ setForceLimit()

◆ setForceLimit2()

◆ setHighStop()

◆ setHighStop2()

◆ setJointAsMotor()

◆ setLowStop()

◆ setLowStop2()

◆ setTorque()

◆ setTorque2()

◆ setVelocity()

◆ setVelocity2()

◆ setWorldObject()

◆ unsetJointAsMotor()

◆ update()

Member Data Documentation

◆ axis1_torque

◆ axis2_torque

◆ ball_motor

◆ body1

◆ body2

◆ cfm

◆ cfm1

◆ cfm2

◆ damping

◆ erp1

◆ erp2

◆ feedback

◆ hi1

◆ hi2

◆ joint_load

◆ joint_type

◆ jointCFM

◆ jointId

◆ lo1

◆ lo2

◆ motor_torque

◆ spring

◆ theWorld