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MdtBclBSJoint Struct Reference

MdtBcl ball and socket constraint structure.. More...

#include <MdtBcl.h>

List of all members.

Public Attributes
MdtBclConstraintHeader	head
	Data stucture tag should be MdtBclBSJOINT. More...
MeVector3	pos1
	Joint position in the first body reference frame. More...
MeVector3	pos2
	Joint position in the second body reference frame. More...
MeVector3	axis_n1
	Primary rotation axis 1 (fixed in 1st body ref. More...
MeVector3	axis_m1
	Primary rotation axis 2 (fixed in 2nd body ref. More...
MeVector3	axis_n2
	Secondary rotation axis, orthogonal to axis_n1 (fixed in 1st body ref. More...
MeVector3	axis_m2
	Secondary rotation axis, orthogonal to axis_m1 (fixed in 2nd body ref. More...
MeVector3	n1_cross_m1
	This vector is maintained (read-only) in order to ensure smooth rotation when n1 and m1 are nearly parallel or anti-parallel (i.e. More...
MdtBclLimit	limit [3]
	Optional limits set to motion about the rotation axes. More...

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Detailed Description

MdtBcl ball and socket constraint structure..

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Member Data Documentation

MeVector3 MdtBclBSJoint::axis_m1

Primary rotation axis 2 (fixed in 2nd body ref.

frame).

MeVector3 MdtBclBSJoint::axis_m2

Secondary rotation axis, orthogonal to axis_m1 (fixed in 2nd body ref.

frame).

MeVector3 MdtBclBSJoint::axis_n1

Primary rotation axis 1 (fixed in 1st body ref.

frame).

MeVector3 MdtBclBSJoint::axis_n2

Secondary rotation axis, orthogonal to axis_n1 (fixed in 1st body ref.

frame).

MdtBclConstraintHeader MdtBclBSJoint::head

Data stucture tag should be MdtBclBSJOINT.

MdtBclLimit MdtBclBSJoint::limit[3]

Optional limits set to motion about the rotation axes.

These are (in array order):

0 - rho (twist angle) 1 - theta (cone, or polar, angle) 2 - phi (segment, or longitudinal, angle).

MeVector3 MdtBclBSJoint::n1_cross_m1

This vector is maintained (read-only) in order to ensure smooth rotation when n1 and m1 are nearly parallel or anti-parallel (i.e.

theta ~ 0 or theta ~ pi).

MeVector3 MdtBclBSJoint::pos1

Joint position in the first body reference frame.

MeVector3 MdtBclBSJoint::pos2

Joint position in the second body reference frame.

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The documentation for this struct was generated from the following file:

• MdtBcl.h

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