palRevoluteLink Class Reference

#include <palLinks.h>

Inheritance diagram for palRevoluteLink:

List of all members.

Public Member Functions
virtual void	Init (palBodyBase *parent, palBodyBase *child, Float x, Float y, Float z, Float axis_x, Float axis_y, Float axis_z)
virtual void	SetLimits (Float lower_limit_rad, Float upper_limit_rad)
virtual void	GetPosition (palVector3 &pos)
virtual Float	GetAngle ()
virtual Float	GetAngularVelocity ()
virtual void	ApplyTorque (Float torque)
virtual void	ApplyAngularImpulse (Float torque)

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Detailed Description

A Revolute Link A revolute link (also known as a hinge) provides one degree of rotational freedom for the constraint. The link connects two bodies, at a given position, and rotates around a specified axis.

The diagram illustrates two geometries central positions, and the central pivot point of the revolute link. The arrow in the diagram illustrates the axis about which the link can rotate.

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Member Function Documentation

void palRevoluteLink::ApplyAngularImpulse

(

Float

torque

)

[virtual]

Applies a torque to act on the link

void palRevoluteLink::ApplyTorque

(

Float

torque

)

[virtual]

Applies a torque to act on the link

Float palRevoluteLink::GetAngle

(

)

[virtual]

Gets the current angle (in radians) between the two connected bodies.

Returns:

Angle (radians) between the two connected bodies.

Float palRevoluteLink::GetAngularVelocity

(

)

[virtual]

Gets the current angular velocity

void palRevoluteLink::GetPosition

(

palVector3 &

pos

)

[virtual]

Retrieves the position of the link as a 3 dimensional vector.

Parameters:

pos

A three dimensional vector representing the links position

void palRevoluteLink::Init	(	palBodyBase *	parent,
		palBodyBase *	child,
		Float	x,
		Float	y,
		Float	z,
		Float	axis_x,
		Float	axis_y,
		Float	axis_z
	)			[virtual]

Initializes the revolute link.

Parameters:

	parent	The "parent" body to connect
	child	The "child" body to connect
	x	The x position of the link's center
	y	The y position of the link's center
	z	The z position of the link's center
	axis_x	The vector about which the link rotates. (x)
	axis_y	The vector about which the link rotates. (y)
	axis_z	The vector about which the link rotates. (z)

void palRevoluteLink::SetLimits	(	Float	lower_limit_rad,
		Float	upper_limit_rad
	)			[virtual]

Constrains the movement of the revolute link. This limits the ammount of movement of the link.

Parameters:

	lower_limit_rad	The lower angular limit of movement. (raidans)
	upper_limit_rad	The upper angular limit of movement. (raidans)

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

• /var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palLinks.h
• /var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palLinks.cpp