OMK::Iii::ScrewJoint

OMK::Iii::ScrewJoint Class Reference

#include <OMKJoint.h>

Inheritance diagram for OMK::Iii::ScrewJoint:

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Collaboration diagram for OMK::Iii::ScrewJoint:

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List of all members.

Protected Types

enum  States {
  NOSCREW,
  SCREW,
  UNSCREW,
  IS_MIN,
  IS_MAX
}

Protected Member Functions

virtual void establishLink ()
 Initialises the link reference positions.
virtual bool computeConstraints (float &angle, float &currentSlide, Wm4::Matrix3f &overRotationMatrix, float &overSlide, Wm4::Vector3f &newOrientation, const Wm4::Vector3f &refOrientation, const Wm4::Vector3f &axis)
float computeConstraintAngle (float &angle, const float &currentSlide, Wm4::Vector3f &newOrientation, const Wm4::Vector3f &refOrientation, const Wm4::Vector3f &axis)

Protected Attributes

States _state
States _stateMin
States _stateMax
float _previousAngle
float _turns
Wm4::Vector3f _previousOrientation
Parameters.
float _pitch
bool _reverse

Private Member Functions

 DECLARE_JOINT_FACTORY (ScrewJoint)

Detailed Description

Definition at line 349 of file OMKJoint.h.

Member Enumeration Documentation

enum OMK::Iii::ScrewJoint::States [protected]

Enumerator:
NOSCREW 
SCREW 
UNSCREW 
IS_MIN 
IS_MAX 

Definition at line 360 of file OMKJoint.h.

00361 { NOSCREW, SCREW, UNSCREW, IS_MIN, IS_MAX } ;

Member Function Documentation

OMK::Iii::ScrewJoint::DECLARE_JOINT_FACTORY ( ScrewJoint   )  [private]

void OMK::Iii::ScrewJoint::establishLink (  )  [protected, virtual]

Initialises the link reference positions.

Reimplemented from OMK::Iii::HingeSlideJoint.

Definition at line 423 of file OMKJoint.cpp.

References OMK::Iii::Joint::_jointPosition, _previousAngle, _previousOrientation, _state, _turns, OMK::Iii::HingeSlideJoint::establishLink(), OMK::IAccessorT< T >::get(), OMK::Type::Transform::getRight(), and NOSCREW.

00424 {
00425   _turns = 0.0f ;
00426   _previousAngle = 0.0f ;
00427   _state = NOSCREW ;
00428   HingeSlideJoint::establishLink() ;
00429   _previousOrientation = _jointPosition->get().getRight() ;
00430 }

bool OMK::Iii::ScrewJoint::computeConstraints ( float &  angle,
float &  currentSlide,
Wm4::Matrix3f &  overRotationMatrix,
float &  overSlide,
Wm4::Vector3f &  newOrientation,
const Wm4::Vector3f &  refOrientation,
const Wm4::Vector3f &  axis 
) [protected, virtual]

Reimplemented from OMK::Iii::HingeSlideJoint.

Definition at line 432 of file OMKJoint.cpp.

References OMK::Iii::HingeSlideJoint::_maxSlide, OMK::Iii::HingeSlideJoint::_maxSlideEnable, OMK::Iii::HingeSlideJoint::_minSlide, OMK::Iii::HingeSlideJoint::_minSlideEnable, _pitch, _previousAngle, _previousOrientation, _reverse, _state, _stateMax, _stateMin, _turns, computeConstraintAngle(), IS_MAX, IS_MIN, NOSCREW, SCREW, and UNSCREW.

00436 {
00437   overRotationMatrix.MakeIdentity() ;
00438   overSlide = 0.0f ;
00439   bool isConstraint = false ;
00440   if( _reverse )
00441   { // angle is a function of the slide
00442     // Compute the constraint
00443     if( _minSlideEnable && ( currentSlide < _minSlide ) )
00444     {
00445       overSlide = currentSlide - _minSlide ;
00446       currentSlide = _minSlide ;
00447       isConstraint = true ;
00448     }
00449     else if( _maxSlideEnable && ( _maxSlide < currentSlide ) )
00450     {
00451       overSlide = currentSlide - _maxSlide ;
00452       currentSlide = _maxSlide ;
00453       isConstraint = true ;
00454     }
00455     // The angle is only a function of the slide offset
00456     angle = currentSlide / _pitch * -Wm4::Math<float>::TWO_PI ;
00457     newOrientation = Wm4::Matrix3f( axis, angle ) * refOrientation ;
00458   }
00459   else
00460   { // slide is a function of the angle
00461      // Computes the angle between the previous and the new orientation to determine if it screws or unscrews
00462     float screw = axis.Dot( newOrientation.Cross( _previousOrientation ) ) ;
00463     switch( _state )
00464     {
00465       case NOSCREW :
00466         if( Wm4::Math<float>::ZERO_TOLERANCE < screw ) _state = SCREW ;
00467         else if( screw < -Wm4::Math<float>::ZERO_TOLERANCE ) _state = UNSCREW ;
00468         // Calculates the slide
00469         currentSlide = ( _turns + angle * -Wm4::Math<float>::INV_TWO_PI ) * _pitch ;
00470         break ;
00471       case SCREW :
00472       case UNSCREW :
00473         if( Wm4::Math<float>::ZERO_TOLERANCE < screw )
00474         {
00475           _state = SCREW ;
00476           if( _previousAngle < angle ) _turns += 1.0f ;
00477         }
00478         else if( screw < -Wm4::Math<float>::ZERO_TOLERANCE )
00479         {
00480           _state = UNSCREW ;
00481           if( angle < _previousAngle ) _turns -= 1.0f ;
00482         }
00483         else _state = NOSCREW ;
00484         // Calculates the slide
00485         currentSlide = ( _turns + angle * -Wm4::Math<float>::INV_TWO_PI ) * _pitch ;
00486         // Applies the constraintes
00487         if( _state == _stateMin && _minSlideEnable && ( currentSlide < _minSlide ) )
00488         {
00489           _state = IS_MIN ;
00490           computeConstraintAngle( angle, _minSlide, newOrientation, refOrientation, axis ) ;
00491         }
00492         else if( _state == _stateMax && _maxSlideEnable && ( _maxSlide < currentSlide ) )
00493         {
00494           _state = IS_MAX ;
00495           computeConstraintAngle( angle, _maxSlide, newOrientation, refOrientation, axis ) ;
00496         }
00497         break ;
00498       case IS_MIN :
00499         {
00500           if( -Wm4::Math<float>::ZERO_TOLERANCE < screw ) _state = NOSCREW ;
00501           // The angle is only a function of the slide offset
00502           currentSlide = _minSlide ;
00503           overRotationMatrix.FromAxisAngle( axis, angle - computeConstraintAngle( angle, currentSlide, newOrientation, refOrientation, axis ) ) ;
00504           isConstraint = true ;
00505         }
00506         break ;    
00507       case IS_MAX :
00508         {
00509           if( screw < Wm4::Math<float>::ZERO_TOLERANCE) _state = NOSCREW ;
00510           // The angle is only a function of the slide offset
00511           currentSlide = _maxSlide ;
00512           overRotationMatrix.FromAxisAngle( axis, angle - computeConstraintAngle( angle, currentSlide, newOrientation, refOrientation, axis ) ) ;
00513           isConstraint = true ;
00514         }
00515         break ;    
00516     }
00517     // min and max slide saturation
00518     if( _minSlideEnable && ( currentSlide < _minSlide ) )
00519     {
00520       currentSlide = _minSlide ;
00521     }
00522     else if( _maxSlideEnable && ( _maxSlide < currentSlide ) )
00523     {
00524       currentSlide = _maxSlide ;
00525     }
00526     _turns = currentSlide / _pitch + angle * Wm4::Math<float>::INV_TWO_PI ;
00527     // Stores current values which will be the previous ones of the next step
00528     _previousAngle = angle ;
00529     _previousOrientation = newOrientation ;
00530   }
00531     
00532   return isConstraint ;
00533 }

float OMK::Iii::ScrewJoint::computeConstraintAngle ( float &  angle,
const float &  currentSlide,
Wm4::Vector3f &  newOrientation,
const Wm4::Vector3f &  refOrientation,
const Wm4::Vector3f &  axis 
) [protected]

Definition at line 534 of file OMKJoint.cpp.

References _pitch.

Referenced by computeConstraints().

00537 {
00538   float constraintAngle = currentSlide / _pitch * -Wm4::Math<float>::TWO_PI ;
00539   if( constraintAngle < 0.0f )
00540   {
00541     constraintAngle = Wm4::Math<float>::FMod( -constraintAngle + Wm4::Math<float>::TWO_PI + Wm4::Math<float>::PI, Wm4::Math<float>::TWO_PI ) - Wm4::Math<float>::PI ;
00542   }
00543   else
00544   {
00545     constraintAngle = Wm4::Math<float>::FMod( constraintAngle + Wm4::Math<float>::PI, Wm4::Math<float>::TWO_PI ) - Wm4::Math<float>::PI ;            
00546   }
00547   newOrientation = Wm4::Matrix3f( axis, constraintAngle ) * refOrientation ;
00548   angle = constraintAngle ;
00549   return constraintAngle ;
00550 }

Member Data Documentation

float OMK::Iii::ScrewJoint::_pitch [protected]

Definition at line 357 of file OMKJoint.h.

Referenced by computeConstraintAngle(), and computeConstraints().

bool OMK::Iii::ScrewJoint::_reverse [protected]

Definition at line 358 of file OMKJoint.h.

Referenced by computeConstraints().

States OMK::Iii::ScrewJoint::_state [protected]

Definition at line 361 of file OMKJoint.h.

Referenced by computeConstraints(), and establishLink().

States OMK::Iii::ScrewJoint::_stateMin [protected]

Definition at line 362 of file OMKJoint.h.

Referenced by computeConstraints().

States OMK::Iii::ScrewJoint::_stateMax [protected]

Definition at line 363 of file OMKJoint.h.

Referenced by computeConstraints().

float OMK::Iii::ScrewJoint::_previousAngle [protected]

Definition at line 364 of file OMKJoint.h.

Referenced by computeConstraints(), and establishLink().

float OMK::Iii::ScrewJoint::_turns [protected]

Definition at line 365 of file OMKJoint.h.

Referenced by computeConstraints(), and establishLink().

Wm4::Vector3f OMK::Iii::ScrewJoint::_previousOrientation [protected]

Definition at line 366 of file OMKJoint.h.

Referenced by computeConstraints(), and establishLink().

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Documentation generated on Mon Jun 9 11:46:04 2008

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