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MdtPrismatic.h File Reference

MdtPrismatic API functions. More...

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

Functions
MdtPrismaticID	MdtPrismaticCreate (const MdtWorldID w, const MdtBodyID b1, const MdtBodyID b2)
	Creates a new prismatic constraint with default parameters. More...
void	MdtPrismaticReset (const MdtPrismaticID j)
	Sets a prismatic joint to its default values. More...
void	MdtPrismaticDestroy (const MdtPrismaticID j)
	Destroys a prismatic constraint. More...
void	MdtPrismaticLog (const MdtPrismaticID j)
	Debug function - output constraint using MeMessage. More...
MdtConstraintID	MdtPrismaticQuaConstraint (const MdtPrismaticID j)
	Gets an MdtConstraintID from a specific constraint for performing functions common to all constraints. More...
void	MdtPrismaticGetAxis (const MdtPrismaticID j, MeVector3 v)
	The Prismatic joint's axis is returned in v. More...
MdtLimitID	MdtPrismaticGetLimit (const MdtPrismaticID j)
	Provides read/write access to the constraint limit. More...
void	MdtPrismaticSetAxis (const MdtPrismaticID j, const MeReal x, const MeReal y, const MeReal z)
	Sets the axis of the prismatic joint. More...
void	MdtPrismaticSetLimit (const MdtPrismaticID j, const MdtLimitID NewLimit)
	Resets the joint limit and then copies the public attributes of NewLimit. More...

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Detailed Description

MdtPrismatic API functions.

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Define Documentation

#define MdtPrismaticDisable( j )

Initializer:

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                            MdtConstraintDisable(MdtPrismaticQuaConstraint(j))

#define MdtPrismaticEnable( j )

Initializer:

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                            MdtConstraintEnable(MdtPrismaticQuaConstraint(j))

#define MdtPrismaticGetBody( j, bodyindex )

Initializer:

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                            MdtConstraintGetBody(MdtPrismaticQuaConstraint(j), bodyindex)

#define MdtPrismaticGetForce( j, bodyindex, f )

Initializer:

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                            MdtConstraintGetForce(MdtPrismaticQuaConstraint(j), bodyindex, f)

#define MdtPrismaticGetTorque( j, bodyindex, t )

Initializer:

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                            MdtConstraintGetTorque(MdtPrismaticQuaConstraint(j), bodyindex, t)

#define MdtPrismaticGetUserData( j )

Initializer:

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                            MdtConstraintGetUserData(MdtPrismaticQuaConstraint(j))

#define MdtPrismaticGetWorld( j )

Initializer:

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                            MdtConstraintGetWorld(MdtPrismaticQuaConstraint(j))

#define MdtPrismaticIsEnabled( j )

Initializer:

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                            MdtConstraintIsEnabled(MdtPrismaticQuaConstraint(j))

#define MdtPrismaticSetBodies( j, b1, b2 )

Initializer:

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                            MdtConstraintSetBodies(MdtPrismaticQuaConstraint(j), b1, b2)

#define MdtPrismaticSetUserData( j, d )

Initializer:

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                            MdtConstraintSetUserData(MdtPrismaticQuaConstraint(j), d)

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Function Documentation

MdtPrismaticID MdtPrismaticCreate ( MdtWorldID w, MdtBodyID b1, MdtBodyID b2 )

Creates a new prismatic constraint with default parameters.

See also:

MdtPrismaticReset()

void MdtPrismaticDestroy ( MdtPrismaticID j )

Destroys a prismatic constraint.

void MdtPrismaticGetAxis ( MdtPrismaticID j, MeVector3 v )

The Prismatic joint's axis is returned in v.

MdtLimitID MdtPrismaticGetLimit ( MdtPrismaticID j )

Provides read/write access to the constraint limit.

void MdtPrismaticLog ( MdtPrismaticID j )

Debug function - output constraint using MeMessage.

MdtConstraintID MdtPrismaticQuaConstraint ( MdtPrismaticID j )

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

void MdtPrismaticReset ( MdtPrismaticID j )

Sets a prismatic joint to its default values.

Note that the joint's bodies are not reset.

Default values:

• sliding axis = {0,1,0} (in first body's reference frame)
• first body's initial position = {0,0,0} (in inertial reference frame)

Parameters:

j	prismatic joint ID

void MdtPrismaticSetAxis ( MdtPrismaticID j, MeReal x, MeReal y, MeReal z )

Sets the axis of the prismatic joint.

void MdtPrismaticSetLimit ( MdtPrismaticID j, MdtLimitID NewLimit )

Resets the joint limit and then copies the public attributes of NewLimit.

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