#include <joint.h>
Inheritance diagram for ctRevoluteJoint:
Public Methods | |
ctRevoluteJoint (ctArticulatedBody *in, ctVector3 &in_offset, ctArticulatedBody *out, ctVector3 &out_offset, ctVector3 &paxis) | |
virtual void | calc_vw (ctVector3 &v, ctVector3 &w) |
Add v and w (angular v) of the outboard link, contributed from joints state. | |
virtual void | calc_coriolus (const ctVector3 &r, const ctVector3 &w_f, ctSpatialVector &c) |
calc corioulous force generated by this joint. More... | |
virtual ctSpatialVector | get_spatial_joint_axis () |
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calc corioulous force generated by this joint. Result goes in c r is vector from center of inboard handle to center of outboard handle. w_f is the angular velocity of inboard handle. Reimplemented from ctJoint. |