Collider Constraint. More...

#include <deColliderConstraint.h>

Classes
struct	sDOF
	Degree of freedom parameter.
Public Types
enum	eLimits { elLinearX, elLinearY, elLinearZ, elAngularX, elAngularY, elAngularZ }
	Limits. More...
Public Member Functions
Constructors and Destructors
	deColliderConstraint ()
	Creates a new collider constraint.
virtual	~deColliderConstraint ()
	Cleans up the collider constraint.
Management
const decVector &	GetPosition1 () const
	Retrieves the position of the reference coordinate system.
void	SetPosition1 (const decVector &position)
	Sets the position of the reference coordinate system.
const decQuaternion &	GetOrientation1 () const
	Retrieves the orientation of the reference coordinate system.
void	SetOrientation1 (const decQuaternion &orientation)
	Sets the orientation of the reference coordinate system.
const decVector &	GetPosition2 () const
	Retrieves the position of the reference coordinate system.
void	SetPosition2 (const decVector &position)
	Sets the position of the reference coordinate system.
const decQuaternion &	GetOrientation2 () const
	Retrieves the orientation of the reference coordinate system.
void	SetOrientation2 (const decQuaternion &orientation)
	Sets the orientation of the reference coordinate system.
float	GetLowerLimitFor (int degreeOfFreedom) const
	Retrieves the lower limit for the given degree of freedom.
float	GetUpperLimitFor (int degreeOfFreedom) const
	Retrieves the upper limit for the given degree of freedom.
void	SetLimitsFor (int degreeOfFreedom, float lowerLimit, float upperLimit)
	Sets the lower and upper limit.
void	SetLockedFor (int degreeOfFreedom)
	Sets the given degree of freedom to locked.
void	SetFreeFor (int degreeOfFreedom)
	Sets the given degree of freedom free.
float	GetSpringStiffnessFor (int degreeOfFreedom) const
	Retrieves the spring stiffness for the given degree of freedom.
void	SetSpringStiffnessFor (int degreeOfFreedom, float stiffness)
	Sets the spring stiffness of the given degree of freedom.
decVector	GetLinearLowerLimits () const
	Retrieves the lower limits for all linear degrees of freedom as a vector.
decVector	GetLinearUpperLimits () const
	Retrieves the upper limits for all linear degrees of freedom as a vector.
void	SetLinearLimits (const decVector &lowerLimits, const decVector &upperLimits)
	Sets the limits for linear all linear degrees of freedom from vectors.
decVector	GetAngularLowerLimits () const
	Retrieves the lower limits for all angular degrees of freedom as a vector.
decVector	GetAngularUpperLimits () const
	Retrieves the upper limits for all angular degrees of freedom as a vector.
void	SetAngularLimits (const decVector &lowerLimits, const decVector &upperLimits)
	Sets the limits for angular all angular degrees of freedom from vectors.
decVector	GetLinearSpringStiffness () const
	Retrieves the spring stiffness for all linear degrees of freedom as a vector.
void	SetLinearSpringStiffness (const decVector &stiffness)
	Sets the spring stiffness for linear all linear degrees of freedom from vectors.
decVector	GetAngularSpringStiffness () const
	Retrieves the spring stiffness for all angular degrees of freedom as a vector.
void	SetAngularSpringStiffness (const decVector &stiffness)
	Sets the spring stiffness for angular all angular degrees of freedom from vectors.
float	GetLinearDamping () const
	Retrieves the linear damping.
void	SetLinearDamping (float damping)
	Sets the linear damping.
float	GetAngularDamping () const
	Retrieves the angular damping.
void	SetAngularDamping (float damping)
	Sets the angular damping.
float	GetSpringDamping () const
	Retrieves the spring damping.
void	SetSpringDamping (float damping)
	Sets the spring damping.
void	LockAll ()
	Locks all degrees of freedom.
void	SetToBallJoint ()
	Locks all linear degrees of freedom and sets all angular degrees of freedom free.
void	SetToHingeJoint (int degreeOfFreedom, float lowerLimit, float upperLimit)
	Sets the upper and lower limit for the given angular degree of freedom and locks all others ( hinge joint ).
void	SetToPistonJoint (int degreeOfFreedom, float lowerLimit, float upperLimit)
	Sets the upper and lower limit for the given linear degree of freem and locks all others.
void	SetSpringLinear1D (int degreeOfFreedom, float stiffness, float damping, float bendStiffness)
	Sets a one-dimensional linear spring with bending properties.
bool	GetIsRope () const
	Determines if this constraint is a rope.
void	SetIsRope (bool isRope)
	Sets if this constraint is a rope.
int	GetBone () const
	Retrieves the bone index or -1 if attached to the entire component.
void	SetBone (int bone)
	Sets the bone index or -1 if attached to the entire component.

Detailed Description

Collider Constraint.

Defines a constraint for a collider. Constraints can be used for colliders attached or colliders itself. If used on an attachement the attached collider is constraint to the parent collider. If used on a collider it is constraint to the static world. Constraints are defined in a generic way as a 6-Dof ( degreees of freedom ) type constraint. Two coordinate systems are defined for the two constraint partners. Each degree of freedom can be either locked, limited or free. If limited the upper and lower limit can be set. There are three linear and three angular degrees of freedom. The linear degrees of freedom allow the constraint partner to move translational relative to a given major axis whereas the angular degrees of freedom allow rotation about a major axis.

A degree of freedom is considered locked if the upper and lower limit are equal. It is considered free if the upper limit is smaller than the lower limit. In all other cases the degree of freedom is limited.

By default all degrees of freedom are locked.

In addition each degree of freedom can be turned into a spring type degree of freedom. A degree of freedom can be limited or free while being a spring or not. The spring is defined using the constants found in Hooke's Law therefore F=-k*x . The stiffness sprint constant equals to the k constant defining the percentage of the distance stretched away from the equilibrium position applied as force. Hence k is given as [N/m]. The spring damping determines the amount of energy lost over time. A stiffness of 0 disables spring behavior for a given degree of freedom.

A constraint can also be defined as a rope. If the constraint is a rope no collision shape is required on the affected colliders as the constraint itself becomes a rope shape.

Author:: Plüss Roland

Version:: 1.0

Date:: 2008

Member Enumeration Documentation

enum deColliderConstraint::eLimits

Limits.

Enumerator:

elLinearX	Linear along the X-Axis.
elLinearY	Linear along the Y-Axis.
elLinearZ	Linear along the Z-Axis.
elAngularX	Angular around the X-Axis.
elAngularY	Angular around the Y-Axis.
elAngularZ	Angular around the Z-Axis.

Constructor & Destructor Documentation

deColliderConstraint::deColliderConstraint ( )

Creates a new collider constraint.

virtual deColliderConstraint::~deColliderConstraint ( ) [virtual]

Cleans up the collider constraint.

Member Function Documentation

float deColliderConstraint::GetAngularDamping ( ) const [inline]

Retrieves the angular damping.

decVector deColliderConstraint::GetAngularLowerLimits ( ) const [inline]

Retrieves the lower limits for all angular degrees of freedom as a vector.

References elAngularX, elAngularY, and elAngularZ.

decVector deColliderConstraint::GetAngularSpringStiffness ( ) const [inline]

Retrieves the spring stiffness for all angular degrees of freedom as a vector.

References elAngularX, elAngularY, and elAngularZ.

decVector deColliderConstraint::GetAngularUpperLimits ( ) const [inline]

Retrieves the upper limits for all angular degrees of freedom as a vector.

References elAngularX, elAngularY, and elAngularZ.

int deColliderConstraint::GetBone ( ) const [inline]

Retrieves the bone index or -1 if attached to the entire component.

bool deColliderConstraint::GetIsRope ( ) const [inline]

Determines if this constraint is a rope.

float deColliderConstraint::GetLinearDamping ( ) const [inline]

Retrieves the linear damping.

decVector deColliderConstraint::GetLinearLowerLimits ( ) const [inline]

Retrieves the lower limits for all linear degrees of freedom as a vector.

References elLinearX, elLinearY, and elLinearZ.

decVector deColliderConstraint::GetLinearSpringStiffness ( ) const [inline]

Retrieves the spring stiffness for all linear degrees of freedom as a vector.

References elLinearX, elLinearY, and elLinearZ.

decVector deColliderConstraint::GetLinearUpperLimits ( ) const [inline]

Retrieves the upper limits for all linear degrees of freedom as a vector.

References elLinearX, elLinearY, and elLinearZ.

float deColliderConstraint::GetLowerLimitFor ( int degreeOfFreedom ) const

Retrieves the lower limit for the given degree of freedom.

const decQuaternion& deColliderConstraint::GetOrientation1 ( ) const [inline]

Retrieves the orientation of the reference coordinate system.

const decQuaternion& deColliderConstraint::GetOrientation2 ( ) const [inline]

Retrieves the orientation of the reference coordinate system.

const decVector& deColliderConstraint::GetPosition1 ( ) const [inline]

Retrieves the position of the reference coordinate system.

const decVector& deColliderConstraint::GetPosition2 ( ) const [inline]

Retrieves the position of the reference coordinate system.

float deColliderConstraint::GetSpringDamping ( ) const [inline]

Retrieves the spring damping.

float deColliderConstraint::GetSpringStiffnessFor ( int degreeOfFreedom ) const

Retrieves the spring stiffness for the given degree of freedom.

float deColliderConstraint::GetUpperLimitFor ( int degreeOfFreedom ) const

Retrieves the upper limit for the given degree of freedom.

void deColliderConstraint::LockAll ( )

Locks all degrees of freedom.

void deColliderConstraint::SetAngularDamping ( float damping )

Sets the angular damping.

void deColliderConstraint::SetAngularLimits	(	const decVector &	lowerLimits,
		const decVector &	upperLimits
	)

Sets the limits for angular all angular degrees of freedom from vectors.

void deColliderConstraint::SetAngularSpringStiffness ( const decVector & stiffness )

Sets the spring stiffness for angular all angular degrees of freedom from vectors.

void deColliderConstraint::SetBone ( int bone )

Sets the bone index or -1 if attached to the entire component.

void deColliderConstraint::SetFreeFor ( int degreeOfFreedom )

Sets the given degree of freedom free.

void deColliderConstraint::SetIsRope ( bool isRope )

Sets if this constraint is a rope.

void deColliderConstraint::SetLimitsFor	(	int	degreeOfFreedom,
		float	lowerLimit,
		float	upperLimit
	)

Sets the lower and upper limit.

void deColliderConstraint::SetLinearDamping ( float damping )

Sets the linear damping.

void deColliderConstraint::SetLinearLimits	(	const decVector &	lowerLimits,
		const decVector &	upperLimits
	)

Sets the limits for linear all linear degrees of freedom from vectors.

void deColliderConstraint::SetLinearSpringStiffness ( const decVector & stiffness )

Sets the spring stiffness for linear all linear degrees of freedom from vectors.

void deColliderConstraint::SetLockedFor ( int degreeOfFreedom )

Sets the given degree of freedom to locked.

void deColliderConstraint::SetOrientation1 ( const decQuaternion & orientation )

Sets the orientation of the reference coordinate system.

void deColliderConstraint::SetOrientation2 ( const decQuaternion & orientation )

Sets the orientation of the reference coordinate system.

void deColliderConstraint::SetPosition1 ( const decVector & position )

Sets the position of the reference coordinate system.

void deColliderConstraint::SetPosition2 ( const decVector & position )

Sets the position of the reference coordinate system.

void deColliderConstraint::SetSpringDamping ( float damping )

Sets the spring damping.

void deColliderConstraint::SetSpringLinear1D	(	int	degreeOfFreedom,
		float	stiffness,
		float	damping,
		float	bendStiffness
	)

Sets a one-dimensional linear spring with bending properties.

The given linear degree of freedom is set free with the given spring stiffness and damping. All other linear degrees of freedom are set free to with the given bending stiffness and damping. All angular degrees of freedom are locked.

void deColliderConstraint::SetSpringStiffnessFor	(	int	degreeOfFreedom,
		float	stiffness
	)

Sets the spring stiffness of the given degree of freedom.

void deColliderConstraint::SetToBallJoint ( )

Locks all linear degrees of freedom and sets all angular degrees of freedom free.

void deColliderConstraint::SetToHingeJoint	(	int	degreeOfFreedom,
		float	lowerLimit,
		float	upperLimit
	)

Sets the upper and lower limit for the given angular degree of freedom and locks all others ( hinge joint ).

void deColliderConstraint::SetToPistonJoint	(	int	degreeOfFreedom,
		float	lowerLimit,
		float	upperLimit
	)

Sets the upper and lower limit for the given linear degree of freem and locks all others.

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

deColliderConstraint.h

deColliderConstraint Class Reference

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation