22#ifndef _ODEBALLJOINT_HH_
23#define _ODEBALLJOINT_HH_
48 public:
virtual ignition::math::Vector3d
Anchor(
49 const unsigned int _index)
const;
52 public:
virtual void SetAnchor(
const unsigned int _index,
53 const ignition::math::Vector3d &_anchor);
57 const unsigned int _index)
const;
60 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
63 public:
virtual double GetVelocity(
unsigned int _index)
const;
66 public:
virtual double PositionImpl(
const unsigned int _index)
const;
69 public:
virtual void SetAxis(
const unsigned int _index,
70 const ignition::math::Vector3d &_axis);
73 public:
virtual double UpperLimit(
const unsigned int _index)
const;
76 public:
virtual double LowerLimit(
const unsigned int _index)
const;
87 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
Base class for a ball joint.
Definition BallJoint.hh:41
An ODEBallJoint.
Definition ODEBallJoint.hh:38
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual ~ODEBallJoint()
Destructor.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
ODEBallJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27