#include <CGELSkeletonLink.h>
Public Member Functions | |
| cGELSkeletonLink (cGELSkeletonNode *a_node0, cGELSkeletonNode *a_node1) | |
| Constructor of cGELSkeletonLink. | |
| ~cGELSkeletonLink () | |
| Destructor of cGELSkeletonLink. | |
| void | render () |
| void | computeForces () |
Public Attributes | |
| cGELSkeletonNode * | m_node0 |
| Node 0 of current link. | |
| cGELSkeletonNode * | m_node1 |
| Node 1 of current link. | |
| cColorf | m_color |
| Color used to display NN-links. | |
| double | m_kSpringElongation |
| Elongation spring constant. | |
| double | m_kSpringFlexion |
| Angular spring constant. | |
| double | m_kSpringTorsion |
| Torsional spring constant. | |
| bool | m_enabled |
| Is link enabled. | |
| cVector3d | m_nzLink01 |
| Linear damping constant. | |
| cVector3d | m_wzLink01 |
| Initial link vector between node 0 and node 1 in world coordinates. | |
| cVector3d | m_nzLink10 |
| Initial link vector between node 1 and node 0 in node1 reference frame. | |
| cVector3d | m_wzLink10 |
| Initial link vector between node 1 and node 0 in world coordinates. | |
| cVector3d | m_wLink01 |
| Current link between node 0 and node 1 in world coordinates. | |
| cVector3d | m_wLink10 |
| Current link between node 1 and node 0 in world coordinates. | |
| cVector3d | m_torsionAxisAngle |
| Torsional angle. | |
| cVector3d | m_A0 |
| Reference vector frame A on sphere 0 (local coordinates). | |
| cVector3d | m_wA0 |
| Reference vector frame A on sphere 0 (world coordinates). | |
| cVector3d | m_B0 |
| Reference vector frame B on sphere 0 (local coordinates). | |
| cVector3d | m_wB0 |
| Reference vector frame B on sphere 0 (world coordinates). | |
| cVector3d | m_A1 |
| Reference vector frame A on sphere 1 (local coordinates). | |
| cVector3d | m_wA1 |
| Reference vector frame A on sphere 1 (world coordinates). | |
| double | m_length0 |
| Initial length of link. | |
| double | m_length |
| Current length of link. | |
Static Public Attributes | |
| static double | default_kSpringElongation = 100.0 |
| Default property - linear stiffness. | |
| static double | default_kSpringFlexion = 0.1 |
| Default property - angular stiffness. | |
| static double | default_kSpringTorsion = 0.1 |
| Default property - torsional stiffness. | |
| static cColorf | default_color |
| Default property - color property. | |
| cGELSkeletonLink::cGELSkeletonLink | ( | cGELSkeletonNode * | a_node0, | |
| cGELSkeletonNode * | a_node1 | |||
| ) |
Constructor of cGELSkeletonLink.
Constructor of cGELSkeletonLink.
| a_node0 | Node 0. | |
| a_node1 | Node 1. |
| void cGELSkeletonLink::computeForces | ( | ) | [inline] |
Compute forces applied on mass nodes.
| void cGELSkeletonLink::render | ( | ) | [inline] |
Render link in OpenGL.
Linear damping constant.
Angular damping constant. Torsion damping constant. Initial link vector between node 0 and node 1 in node0 reference frame.