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ctArticulatedBody Class Reference me some of these methods probably don't need to be virtual anymore, esp. those dealing with RF and dRF. More... #include <articula.h> Inheritance diagram for ctArticulatedBody: List of all members. Public Methods   ctArticulatedBody ()   ctArticulatedBody (ctRigidBody *phandle) virtual  ~ctArticulatedBody () ctReferenceFrame*  get_handle_RF ()   return reference frame for this handle ( to world ). ctRigidBody*  get_handle ()   return the physical body that is the root of this articulated figure. void  rotate_around_axis (real ptheta)   rotate this link around it's axis by ptheta radians. void  link_revolute (ctArticulatedBody *child, ctVector3 &pin_joint_offset, ctVector3 &pout_joint_offset, ctVector3 &pjoint_axis)   link two bodies together with a revolute joint. More... void  link_joint (ctJoint *jnt, ctArticulatedBody *child) virtual void  apply_given_F (ctForce &frc)   Add this force to the list of forces that will be applied each frame. void  apply_forces (real t)   compute force and torque from all forces acting on this articulated body that includeds this handle and all children down to the leaf nodes. virtual void  apply_impulse (ctVector3 impulse_point, ctVector3 impulse_vector)   Can use this to impart and impulse to this object. More... virtual void  get_impulse_m_and_I_inv (real *pm, ctMatrix3 *pI_inv, const ctVector3 &impulse_point, const ctVector3 &unit_length_impulse_vector)   impulse_point is point of collision in world frame. virtual void  init_state ()   Init values that will influence the calculation of the change in state. virtual int  get_state_size ()   Return the size of this entity's state vector. virtual int  set_state (real *sa)   Add this body's state to the state vector buffer passed in. More... virtual int  get_state (const real *sa)   Download state from buffer into this entity. virtual int  set_delta_state (real *state_array)   Add change in state vector over time to state buffer parameter. int  set_state_links (real *sa)   state methods for all children. More... int  get_state_links (const real *sa) int  set_delta_state_links (real *state_array) void  make_grounded ()   ungrounded articulated bodies are not staticaly attached to the world frame. void  make_ungrounded () void  attach_to_entity (ctKinematicEntity *pattache)   this articulated body is attached to some other entity. More... void  detattached_from_entity () ctFeatherstoneAlgorithm*  install_featherstone_solver ()   forward dynamics algorithm. The default solver. ctInverseKinematics*  install_IK_solver ()   inverse kinematics algorithm. set the goal after this. void  compute_link_velocities ()   propagates velocities from base link to ends of articulated bodies also calculates T_fg and r_fg. void  calc_relative_frame ()   calculate relative frame of reference from parent. void  update_links () Public Attributes int  tag Static Public Methods void  set_joint_friction (double pfrict=DEFAULT_JOINT_FRICTION)   me this should be in ctJoint. Protected Attributes ctRigidBody*  handle   rigid body for the root of this articulated body. ctJoint*  inboard_joint   joint attaching this body to parent. NULL if root. ctLinkList<ctArticulatedBody>  outboard_links   children. bool  is_grounded   is it fixed to the world frame? ctKinematicEntity*  attached_to ctMatrix3  T_fg   Calculated in compute_link_velocities. More... ctVector3  r_fg   Frame to this frame. More... ctVector3  w_body   Angular and linear velocity calculated in this bodies frame. More... ctVector3  v_body Friends class   ctFeatherstoneAlgorithm class   ctInverseKinematics class   ctJoint Detailed Description me some of these methods probably don't need to be virtual anymore, esp. those dealing with RF and dRF. Member Function Documentation virtual void ctArticulatedBody::apply_impulse ( ctVector3 impulse_point, ctVector3 impulse_vector ) [virtual]   Can use this to impart and impulse to this object. Impulse_point is vector from center of body to point of collision in world coordinates. Impulse_vector is in world coords Reimplemented from ctPhysicalEntity. void ctArticulatedBody::attach_to_entity ( ctKinematicEntity * pattache ) [inline]   this articulated body is attached to some other entity. it will respond to the accelerations of the entity it is attached to. void ctArticulatedBody::link_revolute ( ctArticulatedBody * child, ctVector3 & pin_joint_offset, ctVector3 & pout_joint_offset, ctVector3 & pjoint_axis )   link two bodies together with a revolute joint. pin_joint_offset is the offset from the inboard( parent ) link to joint pout_joint_offset is from the outbaord (child) link to the joint. all offsets are directed from a link's C.O.M. to the joint virtual int ctArticulatedBody::set_state ( real * sa ) [virtual]   Add this body's state to the state vector buffer passed in. Increment state buffer to point after added state. Upload Reimplemented from ctPhysicalEntity. int ctArticulatedBody::set_state_links ( real * sa )   state methods for all children. just need to call these for root and it will recurse down and call standard state methods appropriately for all children Member Data Documentation ctMatrix3 ctArticulatedBody::T_fg [protected]   Calculated in compute_link_velocities. coord transfrom matrix, not rotation, from inboard link ctVector3 ctArticulatedBody::r_fg [protected]   Frame to this frame. Vector from center of inboard frame to this frame in this frame's coords ctVector3 ctArticulatedBody::w_body [protected]   Angular and linear velocity calculated in this bodies frame. Calculated in compute_link_velocities. The documentation for this class was generated from the following file: articula.h Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000