AnimatLab  2
Test
RbHinge.h
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1 
7 #pragma once
8 
9 namespace RoboticsAnimatSim
10 {
11  namespace Environment
12  {
13  namespace Joints
14  {
30  class ROBOTICS_PORT RbHinge : public RbMotorizedJoint, public AnimatSim::Environment::Joints::Hinge
31  {
32  protected:
33  virtual void TurnMotorOff();
34 
35  public:
36  RbHinge();
37  virtual ~RbHinge();
38 
39  virtual void JointPosition(float fltPos);
40 
41  virtual void SetLimitValues();
42 
43 #pragma region DataAccesMethods
44 
45  virtual float *GetDataPointer(const std::string &strDataType);
46  virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
47  virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);
48 
49 #pragma endregion
50 
51  virtual void EnableLimits(bool bVal);
52  virtual void CreateJoint();
53  virtual void StepSimulation();
54  virtual void ResetSimulation();
55 
56  virtual void Physics_EnableLock(bool bOn, float fltPosition, float fltMaxLockForce);
57  virtual void Physics_EnableMotor(bool bOn, float fltDesiredVelocity, float fltMaxForce, bool bForceWakeup);
58  virtual void Physics_MaxForce(float fltVal);
59 
60  virtual void SetConstraintFriction();
61  };
62 
63  } //Joints
64  } // Environment
65 } //RoboticsAnimatSim
A hinge type of joint.
Definition: Hinge.h:39
Classes for implementing the cm-labs vortex physics engine for AnimatLab.