sc::Connector Class Reference

The connector is a handle in each slave, which can be constrained. The connector could be the slave center of mass (in the rigid body case) or something else. Depends on your subsystem. More...

#include <Connector.h>

Public Member Functions
	Connector ()
virtual	~Connector ()
void	setPosition (double x, double y, double z)
	Set the position of this connector. More...
void	setVelocity (double vx, double vy, double vz)
	Set velocity of the connector. More...
void	setFutureVelocity (const Vec3 &velocity, const Vec3 &angularVelocity)
void	setOrientation (double x, double y, double z, double w)
	Set orientation of the connector. More...
void	setAngularVelocity (double wx, double wy, double wz)
	Set angular velocity of the connector. More...
double	getConstraintForce (int element)
	Get one of the elements of the resulting constraint force. More...
double	getConstraintTorque (int element)
	Get one of the elements of the resulting constraint torque. More...

Public Attributes
int	m_index
	Index of the connector in the system matrix. Will be set by the scSolver it is added to. More...
void *	m_userData
	Pointer to arbitrary user data. Use it as you want. More...
void *	m_slave
	Pointer to the owner slave. More...
Vec3	m_position
	Physical position of the connector. More...
Vec3	m_velocity
	Physical (linear) velocity of the connector. More...
Vec3	m_futureVelocity
Vec3	m_futureAngularVelocity
Quat	m_quaternion
	Quaternion orientation of this connector. Needed? More...
Vec3	m_angularVelocity
	Angular velocity of the connector. More...
Vec3	m_force
	Resulting contraint force. Will be set by the scSolver in scSolver::solve(). More...
Vec3	m_torque
	Resulting constraint torque. More...

Detailed Description

The connector is a handle in each slave, which can be constrained. The connector could be the slave center of mass (in the rigid body case) or something else. Depends on your subsystem.

Constructor & Destructor Documentation

Connector::Connector

(

)

Connector::~Connector ( )

virtual

Member Function Documentation

double Connector::getConstraintForce

(

int

element

)

Get one of the elements of the resulting constraint force.

Parameters

element

0, 1, or 2: the element in the force array to get.

double Connector::getConstraintTorque

(

int

element

)

Get one of the elements of the resulting constraint torque.

Parameters

element

0, 1, or 2, the element in the torque array to get.

void Connector::setAngularVelocity	(	double	wx,
		double	wy,
		double	wz
	)

Set angular velocity of the connector.

void Connector::setFutureVelocity	(	const Vec3 &	velocity,
		const Vec3 &	angularVelocity
	)

void Connector::setOrientation	(	double	x,
		double	y,
		double	z,
		double	w
	)

Set orientation of the connector.

void Connector::setPosition	(	double	x,
		double	y,
		double	z
	)

Set the position of this connector.

void Connector::setVelocity	(	double	vx,
		double	vy,
		double	vz
	)

Set velocity of the connector.

Member Data Documentation

Vec3 sc::Connector::m_angularVelocity

Angular velocity of the connector.

Vec3 sc::Connector::m_force

Resulting contraint force. Will be set by the scSolver in scSolver::solve().

Vec3 sc::Connector::m_futureAngularVelocity

Vec3 sc::Connector::m_futureVelocity

int sc::Connector::m_index

Index of the connector in the system matrix. Will be set by the scSolver it is added to.

Vec3 sc::Connector::m_position

Physical position of the connector.

Quat sc::Connector::m_quaternion

Quaternion orientation of this connector. Needed?

void* sc::Connector::m_slave

Pointer to the owner slave.

Vec3 sc::Connector::m_torque

Resulting constraint torque.

void* sc::Connector::m_userData

Pointer to arbitrary user data. Use it as you want.

Vec3 sc::Connector::m_velocity

Physical (linear) velocity of the connector.

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

• strong-coupling-core/include/Connector.h
• strong-coupling-core/src/Connector.cpp