Class PinSubhinge

Class PinSubhinge#

Inheritance Relationships#

Base Type#

Class Documentation#

class PinSubhinge : public Karana::Dynamics::Physical1DofSubhinge#

Represents a 1 dof rotational subhinge.

See Subhinges section for more information on physical subhinges.

Public Functions

inline virtual ~PinSubhinge()#

PinSubhinge destructor.

virtual SubhingeBase::SubhingeType subhingeType() const override#

Helper method to return the subhinge type.

Returns:

the subhinge type

PinSubhinge(kc::ks_ptr<kf::Frame> oframe, kc::ks_ptr<kf::Frame> pframe, std::string_view name, kc::ks_ptr<FramePairHinge> hge)#

Constructs a PinSubhinge.

Parameters:

  • oframe – the oframe frame

  • pframe – the pframe frame

  • name – the name for the subhinge

  • hge – the parent hinge

virtual void setUnitAxis(const km::Vec3 &axis) override#

Set the unit axis for the pin hinge.

Parameters:

axis – The unit axis for the pin hinge.

Protected Functions

virtual void _computeTransform(km::HomTran&) override#

Compute the transformation between the oframe and pframe.

This the relTransform data cache callback.

Parameters:

T – The buffer to place the computed homogeneous transformation in.

virtual void _computeVelocity(km::SpatialVector&) override#

Compute the spatial velocity between the oframe and pframe.

This the relSpVel data cache callback.

Parameters:

V – The buffer to put the computed spatial velocity in.

virtual void _computeAccel(km::SpatialVector&) override#

Compute the spatial acceleration between the oframe and pframe.

This the relSpAccel data cache callback.

Parameters:

a – The buffer to put the computed spatial acceleration in.

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