#include <ikhierarchy.h>
Classes |
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struct | JointAxes |
Public Types |
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enum | JointType { SlidingJoint, RotationalJoint } |
Public Member Functions |
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IterJoint (LinkChain &lc) | |
CoreExport void | InitJointAngles () |
Set all joint angles to the respective
initial values. |
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void | SetSkipSliding (bool skip) |
CoreExport void | Begin (bool in_world) |
CoreExport JointType | GetJointType () const |
int | DofCount () const |
CoreExport JointAxes | GetJointAxes () const |
const Matrix3 & | ProximalFrame () const |
const Matrix3 & | DistalFrame () const |
Point3 | Pivot () const |
Point3 | DistalEnd () const |
CoreExport void | SetJointAngles (const Point3 &) |
CoreExport Point3 | GetJointAngles () const |
CoreExport bool | Next () |
Protected Member Functions |
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CoreExport void | SkipSliding () |
enum JointType |
{ SlidingJoint, RotationalJoint };
CoreExport void InitJointAngles | ( | ) |
Set all joint angles to the respective initial values.
void SetSkipSliding | ( | bool | skip | ) | [inline] |
{ mSkipSlide = skip; }
CoreExport void Begin | ( | bool | in_world | ) |
CoreExport JointType GetJointType | ( | ) | const |
int DofCount | ( | ) | const [inline] |
{ return mBegin == -1 ? 3: mEnd - mBegin; }
CoreExport JointAxes GetJointAxes | ( | ) | const |
const Matrix3& ProximalFrame | ( | ) | const [inline] |
{ return mMat0; }
const Matrix3& DistalFrame | ( | ) | const [inline] |
{ return mMat; }
Point3 Pivot | ( | ) | const [inline] |
{ return mMat0.GetTrans(); }
Point3 DistalEnd | ( | ) | const [inline] |
{ return mMat.GetTrans(); }
CoreExport void SetJointAngles | ( | const Point3 & | ) |
CoreExport Point3 GetJointAngles | ( | ) | const |
CoreExport bool Next | ( | ) |
CoreExport void SkipSliding | ( | ) | [protected] |