taoNode Class Reference
[Dynamics]

node class for articulated body dynamics

This implements taoDNode for articulated body dynamics. More...

#include <taoNode.h>

Inheritance diagram for taoNode:

[legend]Collaboration diagram for taoNode:

[legend]List of all members.

Public Member Functions
	taoNode ()
	taoNode (taoDNode *parent, deFrame *home)
virtual	~taoNode ()
virtual void	sync (deFrame *local)
virtual taoJoint *	getJointList ()
virtual deVector6 *	velocity ()
virtual deVector6 *	acceleration ()
virtual void	getFrameGraphics (deFrame *Tog)
	global frame for graphics display
virtual deFrame *	frameHome ()
virtual deFrame *	frameLocal ()
virtual deFrame *	frameGlobal ()
	global frame for the dynamics computation
virtual deFloat *	mass ()
virtual deVector3 *	center ()
virtual deMatrix3 *	inertia ()
virtual deVector6 *	force ()
virtual void	zeroForce ()
virtual void	addForce (const deVector6 *f)
virtual void	updateFrame ()
virtual void	integrate (deFloat dt)
virtual void	setDParent (taoDNode *n)
virtual taoDNode *	getDParent ()
virtual void	setDChild (taoDNode *n)
virtual taoDNode *	getDChild ()
virtual void	setDSibling (taoDNode *n)
virtual taoDNode *	getDSibling ()
virtual void	addJoint (taoJoint *joint)
virtual void	addABNode ()
virtual void	unlink ()
virtual void	link (taoDNode *parent, deFrame *home)
virtual void	deleteJointABNode ()
virtual void	linearVelocity (deVector3 *Vie, const deVector3 *Pie)
virtual void	linearAcceleration (deVector3 *Aie, const deVector3 *Pie)
virtual void	impulse (const deVector3 *Pie, const deVector3 *Yie)
	computes new velocity given impulse
virtual void	impulseDist (const deVector3 *Pie, const deVector3 *Yie)
	computes new position given pseudo impulse
virtual void	force (const deVector3 *Pie, const deVector3 *Fie)
	computes new force given force

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Detailed Description

node class for articulated body dynamics

This implements taoDNode for articulated body dynamics.

See also:

taoCNode, taoDNode, taoDynamics

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Constructor & Destructor Documentation

taoNode::taoNode (   )

taoNode::taoNode (  taoDNode *  parent, deFrame *  home )

taoNode::~taoNode (   )  [virtual]

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Member Function Documentation

deVector6 * taoNode::acceleration (   )  [virtual]

Remarks: expressed in local frame Implements taoDNode.

void taoNode::addABNode (   )  [virtual]

virtual void taoNode::addForce (  const deVector6 *  f  )  [inline, virtual]

Remarks: expressed in local frame Implements taoDNode.

void taoNode::addJoint (  taoJoint *  joint  )  [virtual]

virtual deVector3* taoNode::center (   )  [inline, virtual]

Returns: center of gravity in local frame Implements taoDNode.

void taoNode::deleteJointABNode (   )  [virtual]

void taoNode::force (  const deVector3 *  Pie, const deVector3 *  Fie )  [virtual]

computes new force given force This method replaces the accumulated force with the given force. Remarks: replaces the internal force with a new force Precondition: A, F Postcondition: F Pie - contact point expressed in local frame. Fie - force at the contact point expressed in local frame. Note: this method replaces the internal force in the node. Reimplemented from taoCNode.

virtual deVector6* taoNode::force (   )  [inline, virtual]

Remarks: expressed in local frame Implements taoDNode.

virtual deFrame* taoNode::frameGlobal (   )  [inline, virtual]

global frame for the dynamics computation Note: for taoNodeRB, this is the center of mass frame. for taoNode, this is the same frame getFrameGraphics() Implements taoCNode.

virtual deFrame* taoNode::frameHome (   )  [inline, virtual]

Returns: home frame Implements taoDNode.

virtual deFrame* taoNode::frameLocal (   )  [inline, virtual]

Returns: local frame Implements taoDNode.

virtual taoDNode* taoNode::getDChild (   )  [inline, virtual]

Returns: first child node Implements taoDNode.

virtual taoDNode* taoNode::getDParent (   )  [inline, virtual]

Returns: parent node Implements taoDNode.

virtual taoDNode* taoNode::getDSibling (   )  [inline, virtual]

Returns: next sibling node Implements taoDNode.

virtual void taoNode::getFrameGraphics (  deFrame *  Tog  )  [inline, virtual]

global frame for graphics display Note: for taoNodeRB, this is the graphics origin frame without the offset. for taoNodeRB, setFrameGraphics() should be used to set this frame. for taoNode, this is the same frame as frameGlobal() Return values: Fg  is filled with the frame info for graphics sync. Implements taoCNode.

virtual taoJoint* taoNode::getJointList (   )  [inline, virtual]

Implements taoDNode.

void taoNode::impulse (  const deVector3 *  Pie, const deVector3 *  Yie )  [virtual]

computes new velocity given impulse This method changes velocity instantaneously by applying the given impulse. Remarks: do not use ddQ after this call Precondition: T, Q, V, dQ, Y Postcondition: V, dQ Pie - contact point expressed in local frame. Yie - impulse at the contact point expressed in local frame. Reimplemented from taoCNode.

void taoNode::impulseDist (  const deVector3 *  Pie, const deVector3 *  Yie )  [virtual]

computes new position given pseudo impulse This method changes position and orientation instantaneously by applying the given pseudo impulse. Pie - contact point expressed in local frame. Yie - pseudo impulse at the contact point expressed in local frame. Reimplemented from taoCNode.

virtual deMatrix3* taoNode::inertia (   )  [inline, virtual]

Returns: inertia tensor at the origin of local frame Implements taoDNode.

void taoNode::integrate (  deFloat  dt  )  [virtual]

Implements taoDNode.

void taoNode::linearAcceleration (  deVector3 *  Aie, const deVector3 *  Pie )  [virtual]

Returns: Aie Remarks: expressed in local frame Reimplemented from taoCNode.

void taoNode::linearVelocity (  deVector3 *  Vie, const deVector3 *  Pie )  [virtual]

Returns: Vie Remarks: expressed in local frame Reimplemented from taoCNode.

void taoNode::link (  taoDNode *  parent, deFrame *  home )  [virtual]

virtual deFloat* taoNode::mass (   )  [inline, virtual]

Returns: global frame mass Implements taoDNode.

virtual void taoNode::setDChild (  taoDNode *  n  )  [inline, virtual]

Implements taoDNode.

virtual void taoNode::setDParent (  taoDNode *  n  )  [inline, virtual]

virtual void taoNode::setDSibling (  taoDNode *  n  )  [inline, virtual]

void taoNode::sync (  deFrame *  local  )  [virtual]

Implements taoDNode.

void taoNode::unlink (   )  [virtual]

void taoNode::updateFrame (   )  [virtual]

Implements taoDNode.

deVector6 * taoNode::velocity (   )  [virtual]

Remarks: expressed in local frame Implements taoDNode.

virtual void taoNode::zeroForce (   )  [inline, virtual]

Implements taoDNode.

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

• taoNode.h
• taoNode.cpp

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