palSphericalLink Class Reference

#include <palLinks.h>

Inheritance diagram for palSphericalLink:

List of all members.

Public Member Functions
virtual void	Init (palBodyBase *parent, palBodyBase *child, Float x, Float y, Float z)
virtual void	SetLimits (Float cone_limit_rad, Float twist_limit_rad)
Public Attributes
Float	m_fConeLimit
	The maximum limit of rotational movement (radians).
Float	m_fTwistLimit
	The maximum limit of twisting movement (radians).

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Detailed Description

A Spherical link. A spherical link, (also know as a ball and socket link) provides 3 degrees of rotational freedom for the constraint. That is, it can twist about its axis, as well as rotate freely about its central point. The link connects two bodies, at a given position.

The diagram indicates the central point of the spherical link.

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Member Function Documentation

void palSphericalLink::Init	(	palBodyBase *	parent,
		palBodyBase *	child,
		Float	x,
		Float	y,
		Float	z
	)			[virtual]

Initializes the spherical 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

void palSphericalLink::SetLimits	(	Float	cone_limit_rad,
		Float	twist_limit_rad
	)			[virtual]

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

Parameters:

	cone_limit_rad	Limits the rotational movement of the joint. Specifies the maximum movement in radians.
	twist_limit_rad	Limits the twist movement of the joint. Specifies the maximum movement in radians. ????DIAGRAM

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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