Representation of joints. More...

#include <joint.h>

Inheritance diagram for VART::Joint:

Public Types
enum	DofID { FLEXION, ADDUCTION, TWIST }

Public Types inherited from VART::SceneNode
enum	TypeID { NONE, GRAPHIC_OBJ, BOX, CONE, CURVE, BEZIER, CYLINDER, IMAGE, IMAGE_2D, VOLUME, MESH_OBJECT, SPHERE, JOINT, BIAXIAL_JOINT, CONDYLAR_JOINT, ELLIPSOID_JOINT, SADDLE_JOINT, PLANE_JOINT, POLYAXIAL_JOINT, UNIAXIAL_JOINT, HINGE_JOINT, PIVOT_JOINT, TRANSFORM }

Public Member Functions
	Joint ()
	Creates an uninitialized joint. More...

	Joint (const Joint &j)

virtual	~Joint ()

virtual VART::SceneNode *	Copy ()
	Returns a copy of a Joint. Every derived class must reimplement this method, to avoid errors with VART::SceneNode::RecursiveCopy. More...

virtual void	CopyDofListFrom (VART::Joint &joint)
	Copy the dofList atribute from an joint, setting the ownerJoint atribute of copied dof to 'this' joint instance. More...

const Joint &	operator= (const Joint &j)

unsigned short int	GetNumDofs () const

virtual Dof *	AddDof (const Point4D &vec, const Point4D &pos, float min, float max)
	Adds a Dof. More...

virtual void	AddDof (Dof *dof)
	Adds a Dof. More...

void	MakeLim ()
	Updates the LIM, based on DOFs' situation. More...

const Dof &	GetDof (DofID dof) const
	Returns a joint's DOF. More...

void	GetDofs (std::list< Dof * > *dofListPtr)
	Returns all DOFs. More...

DofID	GetDofID (const Dof *dofPtr) const
	Returns the DofID of some member Dof. More...

void	SetAtRest ()
	Put the joint in a rest position. More...

bool	MoveDof (DofID dof, float variance)
	Moves a joint's DOF. More...

bool	HasDof (DofID dof)
	Checks whether a DOF exists in the joint. More...

virtual TypeID	GetID ()
	Returns type identification of the node. More...

virtual void	XmlPrintOn (std::ostream &os, unsigned int indent) const
	Outputs XML representation of the scene. More...

Public Member Functions inherited from VART::Transform
	Transform ()
	Creates an uninitialized transform. More...

	Transform (const Transform &trans)
	Copy constructor. More...

void	MakeIdentity ()
	Turns transform into identity. More...

Point4D	operator* (const Point4D &point) const
	Applies transformation to a point. More...

Transform	operator* (const Transform &t) const
	Applies transformation to another transform. More...

Transform &	operator= (const Transform &t)
	Copies data from anoter transform. More...

void	Apply (const Transform &t)
	Applies a transformation to itself. More...

void	ApplyTo (Point4D *ptPoint) const
	Applies tranformation to a point. More...

void	MakeTranslation (const Point4D &translationVector)
	Turns transform into a translation. More...

void	MakeTranslation (double tx, double ty, double tz)
	Turns transform into a translation. More...

void	MakeXRotation (double radians)
	Turns transform into a rotation around the X axis. More...

void	MakeYRotation (double radians)
	Turns transform into a rotation around the Y axis. More...

void	MakeZRotation (double radians)
	Turns transform into a rotation around the Z axis. More...

void	MakeRotation (const Point4D &refVec, const float radians)
	Turns transform into a rotation (around some reference vetor). More...

void	MakeRotation (const Point4D &refPoint, const Point4D &refVec, const float radians)
	Turns transform into a rotation (around some reference axis). More...

void	MakeScale (double sX, double sY, double sZ)
	Turns transform into a scale. More...

void	MakeShear (double shX, double shY)
	Turns transform into a shear. More...

void	SetData (double *data)
	Set all data in the transform. More...

const double *	GetData () const
	Returns the address of transformation matrix. More...

void	GetVectorX (Point4D *result) const
	Returns the X vector of the transform. More...

void	GetVectorY (Point4D *result) const
	Returns the Y vector of the transform. More...

void	GetVectorZ (Point4D *result) const
	Returns the Z vector of the transform. More...

void	GetTranslation (Point4D *result) const
	Returns the translation part of the transform. More...

bool	HasNaN () const
	Check for NaNs inside the matrix. More...

virtual bool	DrawOGL () const
	Apply transform to rendering engine. More...

virtual void	DrawForPicking () const
	Draws and object, setting pick info. More...

virtual TypeID	GetID () const
	Returns type identification of the node. More...

virtual bool	RecursiveBoundingBox (BoundingBox *bBox)
	Returns the recursive bounding box. More...

void	ToggleRecVisibility ()
	Toggles the recursive object's visibility. More...

void	CopyMatrix (const Transform &t)
	Copies matrix data from another transform. More...

Public Member Functions inherited from VART::SceneNode
	SceneNode ()
	Creates an uninitialized scene node. More...

	SceneNode (SceneNode &node)

virtual	~SceneNode ()

SceneNode &	operator= (const SceneNode &node)

virtual SceneNode *	RecursiveCopy ()

const std::string &	GetDescription () const
	Returns a copy of the object's description. More...

void	SetDescription (const std::string &desc)
	Changes the object's description. More...

void	AddChild (SceneNode &child)
	Add a child at the end of child list. More...

bool	DetachChild (SceneNode *childPtr)
	Removes a child from the child list. More...

void	AutoDeleteChildren () const
	Deletes (dealocate memory) recursively all children marked as 'autoDelete'. More...

SceneNode *	FindChildByName (const std::string &name) const
	Recusively searches its children for a given name. More...

std::list< SceneNode * >	GetChilds ()

bool	FindPathTo (SceneNode targetPtr, SGPath resultPtr) const
	Search target among children. More...

bool	FindPathTo (const std::string &targetName, SGPath *resultPtr) const
	Search target among children. More...

int	GetNodeTypeList (TypeID type, std::list< SceneNode * > &nodeList)
	Find all the nodes of with typeID 'type'. More...

virtual void	TraverseDepthFirst (SNOperator *operatorPtr) const
	Process all children in depth-first order. More...

virtual void	TraverseBreadthFirst (SNOperator *operatorPtr) const
	Process all children in breadth-first order. More...

virtual void	LocateDepthFirst (SNLocator *locatorPtr) const
	Seaches for a particular scene node (depth first) More...

virtual void	LocateBreadthFirst (SNLocator *locatorPtr) const
	Seaches for a particular scene node (breadth first) More...

Public Member Functions inherited from VART::MemoryObj
	MemoryObj ()
	Default constructor. More...

	MemoryObj (const VART::MemoryObj &obj)
	Copy constructor. More...

Protected Attributes
std::list< Dof * >	dofList

Protected Attributes inherited from VART::Transform
double	matrix [16]

Protected Attributes inherited from VART::SceneNode
std::list< SceneNode * >	childList
	Child list. More...

std::string	description
	Textual identification. More...

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

Static Public Attributes inherited from VART::SceneNode
static bool	recursivePrinting = true

Protected Member Functions inherited from VART::SceneNode
virtual bool	DrawInstanceOGL () const
	Non-recursive drawing - should be overriden by every derived class. More...

bool	RecursiveFindPathTo (SceneNode targetPtr, SGPath resultPtr) const
	Recursive auxiliar method for FindPathTo. More...

bool	RecursiveFindPathTo (const std::string &targetName, SGPath *resultPtr) const
	Recursive auxiliar method for FindPathTo. More...

Detailed Description

Representation of joints.

A joint can be seen as a special kind of geometric transformation. It deals with the complexities of real articulations, producing geometric transformations that can be delivered to the graphics pipeline. A joint is a collecion of DOFs (see Dof) in which their order is important - the transformation of a joint is (... DOF3 * DOF2 * DOF1), that is, DOF1's transform, followed by DOF2's transform... In the current implementation, when DOFs change, their hierarchically inferior DOFs are transformed, that is, on a 3-DOF joint, changing the 2nd DOF tranforms the 3rd DOF. Their order is defined by AddDof method. On future implementations this should change to allow creation of more sophisticated joints. Joints may not share DOFs, see Dof for an explanation. Compile with symbol VISUAL_JOINTS if you want to see DOFs for debugging purposes.

Definition at line 34 of file joint.h.

Member Enumeration Documentation

enum VART::Joint::DofID

Enumerator
FLEXION
ADDUCTION
TWIST

Definition at line 36 of file joint.h.

Constructor & Destructor Documentation

VART::Joint::Joint ( )

Creates an uninitialized joint.

Definition at line 19 of file joint.cpp.

VART::Joint::Joint ( const Joint & j )

Definition at line 23 of file joint.cpp.

VART::Joint::~Joint ( )

virtual

Definition at line 51 of file joint.cpp.

Member Function Documentation

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

virtual

Adds a Dof.

Parameters

vec	[in] A vector. Together with "pos", defines the rotation axis of the new Dof.
pos	[in] A point. Together with "vec", defines the roatation axis of the new Dof.
min	[in] An angle (radians). Minimal allowed rotation.
max	[in] An angle (radians). Maximal allowed rotation.