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ctConstrainedRevoluteJoint Class Reference a hinge with a joint angle "constraint" enforced by PID controller techniques. More... #include <joint.h> Inheritance diagram for ctConstrainedRevoluteJoint: List of all members. Public Methods   ctConstrainedRevoluteJoint (ctArticulatedBody *in, ctVector3 &in_offset, ctArticulatedBody *out, ctVector3 &out_offset, ctVector3 &paxis) virtual real  get_actuator_magnitude (real external_f, real inertail_comp)   internal force generated at joint. More... void  set_constraint (real pmax_angle, real pmin_angle) void  set_spring_constant (real pk) void  set_damping_constant (real pk) Public Attributes real  max_angle real  min_angle real  k   !me tweak these for better stability, depending on your situation. Spring konstant. real  damping_k   Damping konstant. Detailed Description a hinge with a joint angle "constraint" enforced by PID controller techniques. adjust spring and damping constants on a per joint basis to get it behaving right. e.g. if your joint is bouncing back at the constrained angle, then reduce spring_constant. Member Function Documentation real ctConstrainedRevoluteJoint::get_actuator_magnitude ( real external_f, real inertail_comp ) [virtual]   internal force generated at joint. can be used to simulate a robotic motor or muscle force on a limb. Reimplemented from ctJoint. The documentation for this class was generated from the following file: joint.h Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000