SIM_ConAnchorSpatial Class Reference
#include <SIM_ConAnchorSpatial.h>
Public Types | |
| enum | SIM_DOFType { DOF_SPACE = 0, DOF_PLANE = 1, DOF_LINE = 2, DOF_POINT = 3 } |
Public Member Functions | |
| GETSET_DATA_FUNCS_E (SIM_NAME_CONDOF, DOFTypeInput, SIM_DOFType) | |
| GETSET_DATA_FUNCS_V3 (SIM_NAME_CONDIR, DOFVectorInput) | |
| SIM_DOFType | getDOFType () const |
| Overridable get/set for the DOF of the constraint. | |
| void | setDOFType (const SIM_DOFType type) |
| const UT_Vector3 | getDOFVector () const |
| void | setDOFVector (const UT_Vector3 &vector) |
| UT_Vector3 | getPosition (const SIM_Time &time) const |
| Retrieve the world-space position to constrain to. | |
| UT_Vector3 | getVelocity (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_ConAnchorSpatial (const SIM_DataFactory *factory) | |
| virtual | ~SIM_ConAnchorSpatial () |
| 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 | getPositionSubclass (const SIM_Time &time) const =0 |
| virtual UT_Vector3 | getVelocitySubclass (const SIM_Time &) const |
| virtual SIM_DOFType | getDOFTypeSubclass () const |
| virtual const UT_Vector3 | getDOFVectorSubclass () const |
Detailed Description
Normally, constraints affect all three positional degrees of freedom of an object. Some constraints, however, can limit their action to only one or two degrees of freedom. For example, a hard constraint might only force geometry to follow the anchor in y, and leave the x and z DOFs unconstrained. In these situations, the constraint is completely independent of the unconstrained DOFs - movement of the geometry in unconstrained directions has no effect on the constraint (e.g., doesn't affect springs), and the constraint never has an effect in these DOFs (e.g., the constraint will never cause movement in x or z in the earlier example).Definition at line 34 of file SIM_ConAnchorSpatial.h.
Member Enumeration Documentation
We categorize constraints by the shape created by sweeping a point through unconstrained space. The numerical representation is thus the number of degrees that have been constrained. "DOF" stands for "degrees of freedom".
- Enumerator:
-
DOF_SPACE DOF_PLANE Any point in space is valid. (i.e., constraint has no effect) DOF_LINE Any point on a plane is valid. DOF_POINT Any point on a line is valid.
Definition at line 41 of file SIM_ConAnchorSpatial.h.
Constructor & Destructor Documentation
| SIM_ConAnchorSpatial::SIM_ConAnchorSpatial | ( | const SIM_DataFactory * | factory | ) | [explicit, protected] |
| virtual SIM_ConAnchorSpatial::~SIM_ConAnchorSpatial | ( | ) | [protected, virtual] |
Member Function Documentation
| virtual void SIM_ConAnchorSpatial::buildAnchorGuideGeometrySubclass | ( | const SIM_Options & | options, | |
| const GU_DetailHandle & | gdh, | |||
| const SIM_Relationship & | rel, | |||
| const SIM_Time & | t | |||
| ) | const [protected, virtual] |
| void SIM_ConAnchorSpatial::getConDOFFilter | ( | UT_Matrix3 & | result, | |
| const SIM_Time & | time | |||
| ) | const |
Returns a matrix that, when multiplied by a vector, gives only the components of the vector that are constrained.
| SIM_DOFType SIM_ConAnchorSpatial::getDOFType | ( | ) | const |
Overridable get/set for the DOF of the constraint.
| virtual SIM_DOFType SIM_ConAnchorSpatial::getDOFTypeSubclass | ( | ) | const [protected, virtual] |
| const UT_Vector3 SIM_ConAnchorSpatial::getDOFVector | ( | ) | const |
| virtual const UT_Vector3 SIM_ConAnchorSpatial::getDOFVectorSubclass | ( | ) | const [protected, virtual] |
| int SIM_ConAnchorSpatial::getNumConDOFs | ( | ) | const |
Retrieve number of constrained degrees of freedom.
| UT_Vector3 SIM_ConAnchorSpatial::getPosition | ( | const SIM_Time & | time | ) | const |
Retrieve the world-space position to constrain to.
| virtual UT_Vector3 SIM_ConAnchorSpatial::getPositionSubclass | ( | const SIM_Time & | time | ) | const [protected, pure virtual] |
Implemented in SIM_ConAnchorObjPointPos, SIM_ConAnchorObjPrimPos, SIM_ConAnchorObjSpacePos, and SIM_ConAnchorWorldSpacePos.
| SIM_ConAnchorSpatial::GETSET_DATA_FUNCS_E | ( | SIM_NAME_CONDOF | , | |
| DOFTypeInput | , | |||
| SIM_DOFType | ||||
| ) |
| SIM_ConAnchorSpatial::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. This is troublesome as it only works in 3d. Ideally, we should specify two types of constraints: If P is the point to constrain, and R the rest point, and V the vector, we have: Normal constraint: dot(V, P) = dot(V, R) This removes one degree of freedom. Equivalent to PLANE. Vector constraint: P - R = s V, for some s This removes all but one degree of freedom. Equivalent to LINE. The result of this is always normalized.
We can then define the UnconDOFFilter which, when applied to a velocity, will cause it to fulfill those conditions. We can then clamp a position P to a rest position R with the filter uF with: P' = (uF * (P - R)) + R (Note that we can also use the ConDOFFilter with the following equation: P' = (F * (R - P)) + P We present it with the unconstrained case to match the rotational case which is harder to rearrange)
This vector is defined in simulation space, and may not be normalized.
| void SIM_ConAnchorSpatial::getUnconDOFFilter | ( | UT_Matrix3 & | result, | |
| const SIM_Time & | time | |||
| ) | const |
Opposite of getConDOFFilter(). getUnconDOFFilter() = identity - getConDOFFilter()
| UT_Vector3 SIM_ConAnchorSpatial::getVelocity | ( | const SIM_Time & | time | ) | const |
| virtual UT_Vector3 SIM_ConAnchorSpatial::getVelocitySubclass | ( | const SIM_Time & | ) | const [protected, virtual] |
Reimplemented in SIM_ConAnchorObjPointPos, SIM_ConAnchorObjPrimPos, SIM_ConAnchorObjSpacePos, and SIM_ConAnchorWorldSpacePos.
| void SIM_ConAnchorSpatial::setDOFType | ( | const SIM_DOFType | type | ) |
| void SIM_ConAnchorSpatial::setDOFVector | ( | const UT_Vector3 & | vector | ) |
The documentation for this class was generated from the following file:
