VART::Dof Class Reference

Degree Of Freedom - basic component of a Joint. More...

#include <dof.h>

Inheritance diagram for VART::Dof:

Public Member Functions
	Dof ()
	Dof (const Dof &dof)
	Dof (const Point4D &vec, const Point4D &pos, float min, float max)
	Creates and initializes a DOF. More...
	~Dof ()
Dof &	operator= (const Dof &dof)
void	SetDescription (const std::string &desc)
const std::string &	GetDescription () const
Point4D	GetAxis () const
Point4D	GetOrigin () const
Point4D	GetPosition () const
Bezier *	GetEvoluta ()
void	GetLim (Transform *resultPtr)
const Transform &	GetLim () const
float	GetMin () const
float	GetMax () const
float	GetCurrentMin () const
float	GetCurrentMax () const
float	GetRest () const
	Returns DOF's rest position. More...
Joint *	GetOwnerJoint () const
void	SetEvoluta (Bezier *evol)
void	SetLim (const Transform &t)
void	SetAxis (Point4D vec)
void	SetMin (float min)
	Sets DOF's minimal state. More...
void	SetMax (float max)
	Sets DOF's maximal state. More...
void	SetOwnerJoint (Joint *ow)
void	MoveTo (float pos)
	Sets DOF's current position. More...
void	MoveTo (float pos, unsigned int newPriority)
	Sets DOF's current position. More...
float	GetCurrent () const
	Gets DOF's current position. More...
void	Move (float variance)
	Changes DOF. More...
void	SetRest (float rest)
void	Set (const Point4D &vec, const Point4D &pos, float min, float max)
	Initializes a DOF previouly created with default constructor. More...
void	Rest ()
void	SetRangeModifier (Modifier *m)
Modifier *	GetRangeModifier ()
void	ApplyTransformTo (Transform *ptrTrans) const
	Apply internal transform to some external transform. More...
void	XmlPrintOn (std::ostream &os, unsigned int indent) const
	Outputs XML representation of the scene. More...
void	Reconfigure (const Point4D &state, const Point4D &target)
	Reconfigure DOF to match a target direction. More...
Public Member Functions inherited from VART::MemoryObj
	MemoryObj ()
	Default constructor. More...
	MemoryObj (const VART::MemoryObj &obj)
	Copy constructor. More...

Static Public Member Functions
static void	ClearPriorities ()
	Resets priorities of all DOF instances. More...

Protected Member Functions
void	ComputeLIM ()

Protected Attributes
Point4D	position
	Together with "axis", defines the rotation axis. Relative to the parent reference system. More...
Point4D	axis
	Together with "position", defines the rotation axis. Relative to the parent reference system. More...
unsigned int	priority
	Priority of last DOF change. More...

Additional Inherited Members
Public Attributes inherited from VART::MemoryObj
bool	autoDelete

Detailed Description

Degree Of Freedom - basic component of a Joint.

A DOF is an axis of rotation, that may move along a 3D curve (the evoluta). The rotation of a DOF has a limited range that may change according to external elements, this is controlled by the rangeModifier (Modifier). There may exist a hierachy of DOFs, so that by changing one DOF, hierarchically lower DOFs are rotated. DOFs may not be shared among joints because they have a single pointer to the owner joint and because the joint destructor may destroy DOFs marked as autoDelete.

Definition at line 28 of file dof.h.

Constructor & Destructor Documentation

VART::Dof::Dof

(

)

Definition at line 16 of file dof.cpp.

VART::Dof::Dof

(

const Dof &

dof

)

Definition at line 37 of file dof.cpp.

References axis, and position.

VART::Dof::Dof	(	const Point4D &	vec,
		const Point4D &	pos,
		float	min,
		float	max
	)

Creates and initializes a DOF.

Parameters

vec	[in] A vector. Together with "pos", defines the rotation axis.
pos	[in] A point. Together with "vec", defines the roatation axis.
min	[in] An angle (radians). Minimal allowed rotation.
max	[in] An angle (radians). Maximal allowed rotation. The DOF is created so that "current position" refers to zero rotation. If roatation range does not allow zero rotation, then the programmer should manually fix this using MoveTo.

Definition at line 58 of file dof.cpp.

References VART::Point4D::Normalize().

VART::Dof::~Dof

(

)

Definition at line 75 of file dof.cpp.

Member Function Documentation

void VART::Dof::ApplyTransformTo

(

VART::Transform *

ptrTrans

)

const

Apply internal transform to some external transform.

Pre-multiply the internal transform to the argument. As Transform is a pre-multiplication matrix, the resulting transform has the effect of its previous value followed by the DOF's internal transform. This method is called by Joint when it is collection DOFs' transforms in order to compose its final transform.

Parameters

ptrTrans

[in,out] where to apply internal transform.

Definition at line 341 of file dof.cpp.

References VART::Transform::CopyMatrix().

void VART::Dof::ClearPriorities ( )

static

Resets priorities of all DOF instances.

For every instance of Dof, sets its priority to zero. Should be called at every render cycle, in a z-buffer-like scheme.

Definition at line 418 of file dof.cpp.

Referenced by VART::JointAction::Initializer::Initialize(), and VART::Action::MoveAllActive().

void VART::Dof::ComputeLIM ( )

protected

Definition at line 296 of file dof.cpp.

References VART::Point4D::SetW().

VART::Point4D VART::Dof::GetAxis

(

)

const

Definition at line 123 of file dof.cpp.

float VART::Dof::GetCurrent

(

)

const

Gets DOF's current position.

Definition at line 215 of file dof.cpp.

float VART::Dof::GetCurrentMax

(

)

const

Definition at line 205 of file dof.cpp.

float VART::Dof::GetCurrentMin

(

)

const

Definition at line 195 of file dof.cpp.

const std::string& VART::Dof::GetDescription ( ) const

inline

Definition at line 45 of file dof.h.

Bezier* VART::Dof::GetEvoluta ( )

inline

Definition at line 49 of file dof.h.

void VART::Dof::GetLim

(

VART::Transform *

resultPtr

)

Definition at line 140 of file dof.cpp.

References VART::Transform::CopyMatrix().

const VART::Transform & VART::Dof::GetLim

(

)

const

Definition at line 135 of file dof.cpp.

float VART::Dof::GetMax

(

)

const

Definition at line 190 of file dof.cpp.

float VART::Dof::GetMin

(

)

const

Definition at line 185 of file dof.cpp.

VART::Point4D VART::Dof::GetOrigin

(

)

const

Definition at line 128 of file dof.cpp.

VART::Joint * VART::Dof::GetOwnerJoint

(

)

const

Definition at line 225 of file dof.cpp.

Referenced by VART::OffsetModifier::Modify().

Point4D VART::Dof::GetPosition ( ) const

inline

Definition at line 48 of file dof.h.

References position.

VART::Modifier * VART::Dof::GetRangeModifier

(

)

Definition at line 336 of file dof.cpp.

float VART::Dof::GetRest

(

)

const

Returns DOF's rest position.

Definition at line 220 of file dof.cpp.

void VART::Dof::Move ( float  variance )

inline

Changes DOF.

Changes how much the DOF is "bent"

Parameters

variance

[in] How much to change the "current position".

See Also

MoveTo()

Definition at line 99 of file dof.h.

References MoveTo().

Referenced by VART::PolyaxialJoint::Adduct(), VART::BiaxialJoint::Adduct(), and VART::PolyaxialJoint::Twist().

void VART::Dof::MoveTo

(

float

pos

)

Sets DOF's current position.

Parameters

pos	[in] A number in the range [0:1]

A value of zero means minimal rotation (see GetMin, SetMin) around the initial axis position (see GetAxis, GetOrigin, GetEvoluta and related "Set" methods). A value of one means maximal rotation. Other values are linear.

Definition at line 257 of file dof.cpp.

References VART::Point4D::SetW().

Referenced by Move(), VART::BiaxialJoint::SetAdductionTo(), VART::PolyaxialJoint::SetAductionTo(), VART::PolyaxialJoint::SetFlexionTo(), VART::BiaxialJoint::SetFlexionTo(), VART::UniaxialJoint::SetFlexionTo(), and VART::PolyaxialJoint::SetTwistTo().

void VART::Dof::MoveTo	(	float	pos,
		unsigned int	newPriority
	)

Sets DOF's current position.

Parameters

pos	[in] A number in the range [0:1]
newPriority	[in] Priority for DOF update (greater means greater priority)

Moves the DOF to given position if current update has priority over last update.

Definition at line 285 of file dof.cpp.

VART::Dof & VART::Dof::operator=

(

const Dof &

dof

)

Definition at line 82 of file dof.cpp.

References axis, and position.

void VART::Dof::Reconfigure	(	const Point4D &	state,
		const Point4D &	target
	)

Reconfigure DOF to match a target direction.

Given a state (some direction representing current DOF configuration), puts itself in a configuration that would make state as close as possible to target.

Definition at line 346 of file dof.cpp.

References VART::Point4D::CrossProduct(), and VART::Point4D::DotProduct().

void VART::Dof::Rest

(

)

Definition at line 326 of file dof.cpp.

void VART::Dof::Set	(	const Point4D &	vec,
		const Point4D &	pos,
		float	min,
		float	max
	)

Initializes a DOF previouly created with default constructor.

Newly created DOFs are set at zero rotation. Use GetCurrent to find initial positial.

Parameters

vec	[in] Rotation vector;
pos	[in] DOF position (defines an axis along with "vec");
min	[in] Minimal bending angle in radians;
max	[in] Maximal bending angle in radians;

Definition at line 102 of file dof.cpp.

References VART::Point4D::Normalize().

Referenced by VART::XmlScene::loadDofs().

void VART::Dof::SetAxis

(

VART::Point4D

vec

)

Definition at line 230 of file dof.cpp.

void VART::Dof::SetDescription

(

const std::string &

desc

)

Definition at line 118 of file dof.cpp.

Referenced by VART::XmlScene::loadDofs().

void VART::Dof::SetEvoluta

(

VART::Bezier *

evol

)

Definition at line 235 of file dof.cpp.

void VART::Dof::SetLim

(

const Transform &

t

)

Definition at line 242 of file dof.cpp.

void VART::Dof::SetMax

(

float

max

)

Sets DOF's maximal state.

Parameters

max	[in] An angle in radians (for a rotational dof).

DOFs translate to simple transforms (usually rotations). They have a minimal and a maximal state. In case of a rotational DOF, the maximal state refers to the maximal angle (in radians) that the DOF may represent as a rotation.

Definition at line 252 of file dof.cpp.

void VART::Dof::SetMin

(

float

min

)

Sets DOF's minimal state.

Parameters

min	[in] An angle in radians (for a rotational dof).

DOFs translate to simple transforms (usually rotations). They have a minimal and a maximal state. In case of a rotational DOF, the minimal state refers to the minimal angle (in radians) that the DOF may represent as a rotation.

Definition at line 247 of file dof.cpp.

void VART::Dof::SetOwnerJoint

(

VART::Joint *

ow

)

Definition at line 316 of file dof.cpp.

Referenced by VART::Joint::AddDof(), and VART::Joint::CopyDofListFrom().

void VART::Dof::SetRangeModifier

(

VART::Modifier *

m

)

Definition at line 331 of file dof.cpp.

void VART::Dof::SetRest

(

float

rest

)

Definition at line 321 of file dof.cpp.

Referenced by VART::XmlScene::loadDofs().

void VART::Dof::XmlPrintOn	(	std::ostream &	os,
		unsigned int	indent
	)		const

Outputs XML representation of the scene.

Definition at line 426 of file dof.cpp.

Member Data Documentation

Point4D VART::Dof::axis

protected

Together with "position", defines the rotation axis. Relative to the parent reference system.

Definition at line 155 of file dof.h.

Referenced by Dof(), and operator=().

Point4D VART::Dof::position

protected

Together with "axis", defines the rotation axis. Relative to the parent reference system.

Definition at line 153 of file dof.h.

Referenced by Dof(), GetPosition(), and operator=().

unsigned int VART::Dof::priority

protected

Priority of last DOF change.

When several elements try to update a DOF, the priority attribute controls which of them will really affect the DOF. Lower numbers mean lower priority.

Definition at line 160 of file dof.h.

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

• dof.h
• dof.cpp