📄 joint.h
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/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- this file is part of rcssserver3D Fri May 9 2003 Copyright (C) 2002,2003 Koblenz University Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group $Id: joint.h,v 1.7 2004/05/02 11:44:41 rollmark Exp $ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; version 2 of the License. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.*/#ifndef OXYGEN_JOINT_H#define OXYGEN_JOINT_H#include "odeobject.h"namespace oxygen{class Body;/** \class Joint encapsulates an ODE joint object. A joint is a relationship (a constraint) that is enforced between two bodies so that they can only have certain positions and orientations relative to each other. Note that the joint geometry parameter setting functions should only be called after the joint has been attached to bodies, and those bodies have been correctly positioned, otherwise the joint may not be initialized correctly. If the joint is not already attached, these functions will do nothing. The default anchor for all joints is global (0,0,0). The default axis for all joints is global (1,0,0). There are no functions to set joint angles or positions (or their rates) directly, instead you must set the corresponding body positions and velocities. */class Joint : public ODEObject{public: enum EBodyIndex { BI_FIRST = 0, BI_SECOND = 1 }; enum EAxisIndex { AI_FIRST = 0, AI_SECOND = 1, AI_THIRD = 2 }; Joint(); virtual ~Joint(); /** attaches the joint to some new bodies. If the joint is already attached, it will be detached from the old bodies first. To attach this joint to only one body, set body1 or body2 to null. A null body refers to the static environment. Setting both bodies to zero puts the joint into "limbo", i.e. it will have no effect on the simulation. */ virtual void Attach(boost::shared_ptr<Body> body1, boost::shared_ptr<Body> body2); /** attaches the joint to some new bodies, that are given as path expressions. These path expressions are allowed to be relative to this joint node. */ void Attach(const std::string& path1, const std::string& path2); /** returns one of the bodies that this joint connects, according to the given EBodyIndex */ boost::shared_ptr<Body> GetBody(EBodyIndex idx); /** returns the Joint node corresponding to the given ODE joint */ static boost::shared_ptr<Joint> GetJoint(dJointID id); /** returns the type of the managed ODE joint, possible return values are dJointTypeNone, dJointTypeBall, dJointTypeHinge, dJointTypeSlider, dJointTypeContact, dJointTypeUniversal, dJointTypeHinge2, dJointTypeFixed or dJointTypeAMotor. */ int GetType(); /** returns true if the two given bodies are connected by a joint */ static bool AreConnected (boost::shared_ptr<Body> body1, boost::shared_ptr<Body> body2); /** returns true if the two given bodies are connected together by a joint that does not have the given joint type. For possible joint type constants see GetType() */ static bool AreConnectedExcluding (boost::shared_ptr<Body> body1, boost::shared_ptr<Body> body2, int joint_type); /** during the world time step, the forces that are applied by each joint are added directly to the joined bodies, and the user normally has no way of telling which joint contributed how much force. If this information is desired the joint can be enabled to collect feedback information. By default a joint does not collect any feedback information. */ void EnableFeedback(bool enable); /** returns true if the joint is set to collect feedback information */ bool FeedBackEnabled(); /** queries the force that the joint applied to one body attached to it during the last timestep. */ salt::Vector3f GetFeedbackForce(EBodyIndex idx); /** queries the torque that the joint applied to one body attached to it during the last timestep. */ salt::Vector3f GetFeedbackTorque(EBodyIndex idx); /** sets the bouncyness of the stops. This is a restitution parameter in the range 0..1. 0 means the stops are not bouncy at all, 1 means maximum bouncyness. */ void SetBounce(EAxisIndex idx, float bounce); /** returns the bouncyness of the stops */ float GetBounce(EAxisIndex idx); /** sets the low stop angle in degrees, this stop must be greater than -180 to be effective */ void SetLowStopDeg(EAxisIndex idx, float deg); /** returns the low stop angle in degrees */ float GetLowStopDeg(EAxisIndex idx); /** sets the high stop angle in degrees, this stop must be less than +180 to be effective */ void SetHighStopDeg(EAxisIndex idx, float deg); /** returns the high stop angle in degrees */ float GetHighStopDeg(EAxisIndex idx); /** sets the low stop position */ void SetLowStopPos(EAxisIndex idx, float deg); /** returns the low stop position */ float GetLowStopPos(EAxisIndex idx); /** sets the high stop position */ void SetHighStopPos(EAxisIndex idx, float deg); /** returns the high stop position */ float GetHighStopPos(EAxisIndex idx); /** the constraint force mixing (CFM) value used when not at a stop */ void SetCFM(EAxisIndex idx, float cfm); /** returns the constraint force mixing value used when not a a stop */ float GetCFM(EAxisIndex idx); /** sets the constraint force mixing (CFM) value used by the stops. Together with the ERP value this can be used to get spongy or soft stops. This is intended for unpowered joints, it does not really work as expected when a powered joint reaches its limit. */ void SetStopCFM(EAxisIndex idx, float cfm); /** returns the constraint force mixing value used by the stops */ float GetStopCFM(EAxisIndex idx); /** sets the error reduction parameter (ERP) used by the stops. */ void SetStopERP(EAxisIndex idx, float erp); /** returns the error reduction parameter used by the stops */ float GetStopERP(EAxisIndex idx); /** sets the suspension error reduction parameter (ERP). As of ode 0.039 this is only implemented on the hinge-2 joint. */ void SetSuspensionERP(EAxisIndex idx, float erp); /** returns the suspension error reduction parameter (ERP). As of ode 0.039 this is only implemented on the hinge-2 joint. */ float GetSuspensionERP(EAxisIndex idx); /** sets the suspension constraint force mixing value. As of ode 0.039 this is only implemented on the hinge-2 joint. */ void SetSuspensionCFM(EAxisIndex idx, float cfm); /** returns the suspension constraint force mixing value. As of ode 0.039 this is only implemented on the hinge-2 joint. */ float GetSuspensionCFM(EAxisIndex idx); /** sets the linear motor velocity */ void SetLinearMotorVelocity(EAxisIndex idx, float vel); /** returns the linear motor velocity */ float GetLinearMotorVelocity(EAxisIndex idx); /** sets the angular motor velocity in degrees */ void SetAngularMotorVelocity(EAxisIndex idx, float deg); /** returns the angular motor velocity in degrees */ float GetAngularMotorVelocity(EAxisIndex idx); /** sets the maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor */ void SetMaxMotorForce(EAxisIndex idx, float f); /** returns the maximum force or torque that the motor will use to achieve the desired velocity. */ float GetMaxMotorForce(EAxisIndex idx);protected: /** associated the created ODE joint with this node */ virtual void OnLink(); /** get the node at 'path' and tries a cast to Body */ boost::shared_ptr<Body> GetBody(const std::string& path); /** sets a joint parameter value */ virtual void SetParameter(int parameter, float value) = 0; /** returns a joint parameter value */ virtual float GetParameter(int parameter) = 0;protected: /** the managed ODE joint */ dJointID mODEJoint; /** the allocated joint feedback structure */ boost::shared_ptr<dJointFeedback> mFeedback;};DECLARE_ABSTRACTCLASS(Joint);} // namespace oxygen#endif // OXYGEN_JOINT_H⌨️ 快捷键说明
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