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MdtFixedPath.h File Reference

MdtFixedPath API functions. More...

#include "MePrecision.h"
#include "MdtTypes.h"

Functions
MdtFixedPathID	MdtFixedPathCreate (const MdtWorldID w, const MdtBodyID b1, const MdtBodyID b2)
	Creates a new fixed path constraint with default parameters. More...
void	MdtFixedPathReset (const MdtFixedPathID j)
	Sets a fixed path joint to its default values. More...
void	MdtFixedPathDestroy (const MdtFixedPathID j)
	Destroys a fixed path constraint. More...
void	MdtFixedPathLog (const MdtFixedPathID j)
	Debug function - output constraint using MeMessage. More...
MdtConstraintID	MdtFixedPathQuaConstraint (const MdtFixedPathID j)
	Gets an MdtConstraintID from a specific constraint for performing functions common to all constraints. More...
void	MdtFixedPathGetPosition (const MdtFixedPathID j, MeVector3 position, const unsigned int bodyindex)
	The fixed path joint's position with respect to one of the constrained bodies is returned in v. More...
void	MdtFixedPathGetVelocity (const MdtFixedPathID j, MeVector3 velocity, const unsigned int bodyindex)
	The fixed path joint's velocity with respect to one of the constrained bodies is returned in v. More...
void	MdtFixedPathSetPosition (const MdtFixedPathID j, const MeReal x, const MeReal y, const MeReal z, const unsigned int bodyindex)
	Sets the fixed path joint's position with respect to one of the constrained bodies. More...
void	MdtFixedPathSetVelocity (const MdtFixedPathID j, const MeReal dx, const MeReal dy, const MeReal dz, const unsigned int bodyindex)
	Sets the fixed path joint's velocity with respect to one of the constrained bodies. More...

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Detailed Description

MdtFixedPath API functions.

This joint type is trajectory-following only, as in the previous version of the MathEngine toolkit. A full-constraint version is implemented in MdtFPFOJoint.cpp. Unlike most other constraints, the user is expected to set the joint position in the constrained bodies' reference frames. The velocity is also set in the bodies' reference frames.

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Define Documentation

#define MdtFixedPathDisable( j )

Initializer:

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                            MdtConstraintDisable(MdtFixedPathQuaConstraint(j))

#define MdtFixedPathEnable( j )

Initializer:

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                            MdtConstraintEnable(MdtFixedPathQuaConstraint(j))

#define MdtFixedPathGetBody( j, bodyindex )

Initializer:

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                            MdtConstraintGetBody(MdtFixedPathQuaConstraint(j), bodyindex)

#define MdtFixedPathGetForce( j, bodyindex, f )

Initializer:

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                            MdtConstraintGetForce(MdtFixedPathQuaConstraint(j), bodyindex, f)

#define MdtFixedPathGetTorque( j, bodyindex, t )

Initializer:

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                            MdtConstraintGetTorque(MdtFixedPathQuaConstraint(j), bodyindex, t)

#define MdtFixedPathGetUserData( j )

Initializer:

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                            MdtConstraintGetUserData(MdtFixedPathQuaConstraint(j))

#define MdtFixedPathGetWorld( j )

Initializer:

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                            MdtConstraintGetWorld(MdtFixedPathQuaConstraint(j))

#define MdtFixedPathIsEnabled( j )

Initializer:

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                            MdtConstraintIsEnabled(MdtFixedPathQuaConstraint(j))

#define MdtFixedPathSetBodies( j, b1, b2 )

Initializer:

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                            MdtConstraintSetBodies(MdtFixedPathQuaConstraint(j), b1, b2)

#define MdtFixedPathSetUserData( j, d )

Initializer:

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                            MdtConstraintSetUserData(MdtFixedPathQuaConstraint(j), d)

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Function Documentation

MdtFixedPathID MdtFixedPathCreate ( MdtWorldID w, MdtBodyID b1, MdtBodyID b2 )

Creates a new fixed path constraint with default parameters.

See also:

MdtFixedPathReset()

void MdtFixedPathDestroy ( MdtFixedPathID j )

Destroys a fixed path constraint.

void MdtFixedPathGetPosition ( MdtFixedPathID j, MeVector3 position, unsigned int bodyindex )

The fixed path joint's position with respect to one of the constrained bodies is returned in v.

The reference frame is selected by the third parameter (BodyID).

void MdtFixedPathGetVelocity ( MdtFixedPathID j, MeVector3 velocity, unsigned int bodyindex )

The fixed path joint's velocity with respect to one of the constrained bodies is returned in v.

The reference frame is selected by the third parameter (BodyID).

void MdtFixedPathLog ( MdtFixedPathID j )

Debug function - output constraint using MeMessage.

MdtConstraintID MdtFixedPathQuaConstraint ( MdtFixedPathID j )

Gets an MdtConstraintID from a specific constraint for performing functions common to all constraints.

void MdtFixedPathReset ( MdtFixedPathID j )

Sets a fixed path joint to its default values.

Note that the joint's bodies are not reset.

Default values:

• position = {0,0,0}
• velocity = {0,0,0}

Parameters:

j	fixed path joint ID

void MdtFixedPathSetPosition ( MdtFixedPathID j, MeReal x, MeReal y, MeReal z, unsigned int bodyindex )

Sets the fixed path joint's position with respect to one of the constrained bodies.

Unlike the ball-and-socket joint, this joint's position is set in the bodies' reference frames

The reference frame is selected by the third parameter (BodyID).

void MdtFixedPathSetVelocity ( MdtFixedPathID j, MeReal dx, MeReal dy, MeReal dz, unsigned int bodyindex )

Sets the fixed path joint's velocity with respect to one of the constrained bodies.

This joint's velocity is set in the bodies' reference frames.

The reference frame is selected by the third parameter (BodyID).

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