class GearStrut

Actúa como un sólido rígido, pero sin masa.

Public Methods
GearStrut()
GearStrut(RigidBody* r, Object3D* o)
~GearStrut(): GearStrut(Vector3D pos,Vector3D dir);
Vector3D GetForce(void) const: Returns the Force in Body axes
Vector3D GetForcePos(void) const: Returns the contact point in Body axes
Vector3D GetTorque(void) const: Returns the global Torque in Body axes
void Compute(const double dt): void setPosition(const Vector3D p) { GearStrut::Position=p;} void setDirection(const Vector3D d) { GearStrut::Direction=d;} Returns Wheel Position in Global axes.

Private Fields
double lenght: compute forces and torques
Vector3D Position: if it is rigid, the bar has a fixed lenght
Vector3D Direction
Quaternion quat
Vector3D Force: Wheel* wheel;
Vector3D ForcePos
Vector3D Torque
RigidBody* rbody: internal references to parent rigidbody and object
Object3D* o3D
Line3D* line

Private Methods
void ComputeContact(const Vector3D &pos, const Quaternion &q): This computes collision with plane z=0.

Documentation

Actúa como un sólido rígido, pero sin masa. Direction es la dirección en la que se orienta el amrtiguador y a lo largo de la cual se extiende o acorta. Position es la posición respecto al objeto padre y el punto alrededor del que gira. El giro/orientación del conjunto se controla con el Quaternion.

GearStrut()

GearStrut(RigidBody* r, Object3D* o)

~GearStrut()

GearStrut(Vector3D pos,Vector3D dir);

Vector3D GetForce(void) const

Returns the Force in Body axes

Vector3D GetForcePos(void) const

Returns the contact point in Body axes

Vector3D GetTorque(void) const

Returns the global Torque in Body axes

void Compute(const double dt)

void setPosition(const Vector3D p) { GearStrut::Position=p;} void setDirection(const Vector3D d) { GearStrut::Direction=d;} Returns Wheel Position in Global axes. Vector3D getGWheelPos(const Vector3D &pos, const Quaternion &q) const; Quaternion getGWheelQuat(const Quaternion &q) const;