SIM_ConAnchorRotational Class Reference

#include <SIM_ConAnchorRotational.h>

Inheritance diagram for SIM_ConAnchorRotational:

List of all members.

Public Types
enum	SIM_DOFType { DOF_FREE = 0, DOF_PLANEJOINT = 1, DOF_HINGE = 2, DOF_ORIENT = 3 }
	We need better names for these. More...
Public Member Functions
	GETSET_DATA_FUNCS_V3 (SIM_NAME_ROTATION, RotationInput)
	GETSET_DATA_FUNCS_E (SIM_NAME_CONDOF, DOFTypeInput, SIM_DOFType)
	GETSET_DATA_FUNCS_V3 (SIM_NAME_CONDIR, DOFVectorInput)
const UT_Vector3	getRotation () const
	Overridable get/set for Rotation and DOF of constraint.
void	setRotation (const UT_Vector3 &rotation)
SIM_DOFType	getDOFType () const
void	setDOFType (const SIM_DOFType type)
const UT_Vector3	getDOFVector () const
void	setDOFVector (const UT_Vector3 &vector)
UT_Vector3	getGuidePosition (const SIM_Time &t) const
	Retrieve the world-space position for the guide geometry.
UT_Quaternion	getOrientation (const SIM_Time &time) const
	Retrieve the world-space orientation to constrain to.
UT_Vector3	getAngularVelocity (const SIM_Time &time) const
int	getNumConDOFs () const
	Retrieve number of constrained degrees of freedom.
void	getConDOFFilter (UT_Matrix3 &result, const SIM_Time &time) const
void	getUnconDOFFilter (UT_Matrix3 &result, const SIM_Time &time) const
Protected Member Functions
	SIM_ConAnchorRotational (const SIM_DataFactory *f)
virtual	~SIM_ConAnchorRotational ()
virtual void	buildAnchorGuideGeometrySubclass (const SIM_Options &options, const GU_DetailHandle &gdh, const SIM_Relationship &rel, const SIM_Time &t) const
	Default implementation does nothing.
virtual UT_Vector3	getGuidePositionSubclass (const SIM_Time &time) const
virtual UT_Quaternion	getOrientationSubclass (const SIM_Time &time) const =0
virtual UT_Vector3	getAngularVelocitySubclass (const SIM_Time &time) const =0
virtual const UT_Vector3	getRotationSubclass () const
virtual SIM_DOFType	getDOFTypeSubclass () const
virtual const UT_Vector3	getDOFVectorSubclass () const

---

Detailed Description

Rotational constraints are a bit odd. We categorize constraints by the shape created by sweeping the possible rotation axes through unconstrained space. The numerical representation is thus the number of degrees that have been constrained. "DOF" stands for "degrees of freedom".

Definition at line 28 of file SIM_ConAnchorRotational.h.

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Member Enumeration Documentation

enum SIM_ConAnchorRotational::SIM_DOFType

We need better names for these.

Enumerator:

DOF_FREE	DOF_FREE is a complete absence of any restrictions on orientation. Any orientation is valid.
DOF_PLANEJOINT	DOF_PLANEJOINT provides the mobility of a thick wire system. The plane's axis can be made to look in any direction, but can't be rotated freely. Only rotations whose axes lie in a given plane are allowed.
DOF_HINGE	DOF_HINGE allows any orientation around a specific axis. A specific axis is locked, rotating around that is allowed.
DOF_ORIENT	DOF_ORIENT provides no free orientation. Orientation completely locked down.

Definition at line 34 of file SIM_ConAnchorRotational.h.

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Constructor & Destructor Documentation

SIM_ConAnchorRotational::SIM_ConAnchorRotational

(

const SIM_DataFactory *

f

)

[explicit, protected]

virtual SIM_ConAnchorRotational::~SIM_ConAnchorRotational

(

)

[protected, virtual]

---

Member Function Documentation

virtual void SIM_ConAnchorRotational::buildAnchorGuideGeometrySubclass	(	const SIM_Options &	options,
		const GU_DetailHandle &	gdh,
		const SIM_Relationship &	rel,
		const SIM_Time &	t
	)			const [protected, virtual]

Default implementation does nothing.

Reimplemented from SIM_ConAnchor.

UT_Vector3 SIM_ConAnchorRotational::getAngularVelocity

(

const SIM_Time &

time

)

const

virtual UT_Vector3 SIM_ConAnchorRotational::getAngularVelocitySubclass

(

const SIM_Time &

time

)

const [protected, pure virtual]

Implemented in SIM_ConAnchorAlignAxis, SIM_ConAnchorObjPointRot, SIM_ConAnchorObjRotational, and SIM_ConAnchorWorldSpaceRot.

void SIM_ConAnchorRotational::getConDOFFilter	(	UT_Matrix3 &	result,
		const SIM_Time &	time
	)			const

Returns a matrix that, when multiplied by a angular velocity, gives only the components of the angular velocity that are constrained.

SIM_DOFType SIM_ConAnchorRotational::getDOFType

(

)

const

virtual SIM_DOFType SIM_ConAnchorRotational::getDOFTypeSubclass

(

)

const [protected, virtual]

const UT_Vector3 SIM_ConAnchorRotational::getDOFVector

(

)

const

virtual const UT_Vector3 SIM_ConAnchorRotational::getDOFVectorSubclass

(

)

const [protected, virtual]

UT_Vector3 SIM_ConAnchorRotational::getGuidePosition

(

const SIM_Time &

t

)

const

Retrieve the world-space position for the guide geometry.

virtual UT_Vector3 SIM_ConAnchorRotational::getGuidePositionSubclass

(

const SIM_Time &

time

)

const [protected, virtual]

Reimplemented in SIM_ConAnchorObjPointRot, SIM_ConAnchorObjSpaceRot, and SIM_ConAnchorWorldSpaceRot.

int SIM_ConAnchorRotational::getNumConDOFs

(

)

const

Retrieve number of constrained degrees of freedom.

UT_Quaternion SIM_ConAnchorRotational::getOrientation

(

const SIM_Time &

time

)

const

Retrieve the world-space orientation to constrain to.

virtual UT_Quaternion SIM_ConAnchorRotational::getOrientationSubclass

(

const SIM_Time &

time

)

const [protected, pure virtual]

Implemented in SIM_ConAnchorAlignAxis, SIM_ConAnchorObjPointRot, SIM_ConAnchorObjRotational, SIM_ConAnchorObjSpaceRot, and SIM_ConAnchorWorldSpaceRot.

const UT_Vector3 SIM_ConAnchorRotational::getRotation

(

)

const

Overridable get/set for Rotation and DOF of constraint.

virtual const UT_Vector3 SIM_ConAnchorRotational::getRotationSubclass

(

)

const [protected, virtual]

SIM_ConAnchorRotational::GETSET_DATA_FUNCS_E	(	SIM_NAME_CONDOF	,
		DOFTypeInput	,
		SIM_DOFType
	)

SIM_ConAnchorRotational::GETSET_DATA_FUNCS_V3	(	SIM_NAME_CONDIR	,
		DOFVectorInput
	)

All constraints are represented by a vector which is interpreted differently depending on how many DOF will be constrained.

If O is the orientation to constrain, and Q the rest orientation, and V the vector: Free constraint: O = O No constraint occurs.

Plane constraint: (O / Q) . V = 0 The rotation which maps from Q to O should not have any component of V in it. This allows all orientations which can be reached from Q by rotating around a vector perpendicular to V.

Hinge constraint: (O / Q) = s V, for some s There is one degree of freedom. The set of valid orientations are those that can be reached from Q by rotating around V.

Orient constraint: O = Q The quaternion is fully constrained.

Through further abuse of notation, we can define the UnconDOFFilter which when applied to an angular velocity will cause it to fulfill those conditions. We can then clamp a quaternion O into the desired value Q according to the filter uF with: O' = ((uF) * (O / Q)) * Q

(Note that uF is symmetric and O/Q a vector, so we don't have to worry which side we multiply it on.)

This vector is defined in *object* space. (Ie, a value of (1, 0, 0) means that the X axis of the object should point in the fashion that the X axis of O does)

SIM_ConAnchorRotational::GETSET_DATA_FUNCS_V3	(	SIM_NAME_ROTATION	,
		RotationInput
	)

void SIM_ConAnchorRotational::getUnconDOFFilter	(	UT_Matrix3 &	result,
		const SIM_Time &	time
	)			const

Opposite of getConDOFFilter(). getUnconDOFFilter() = identity - getConDOFFilter()

void SIM_ConAnchorRotational::setDOFType

(

const SIM_DOFType

type

)

void SIM_ConAnchorRotational::setDOFVector

(

const UT_Vector3 &

vector

)

void SIM_ConAnchorRotational::setRotation

(

const UT_Vector3 &

rotation

)

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

• SIM/SIM_ConAnchorRotational.h