I3DExConstraint Struct Reference
[External Interfaces]

Inheritance diagram for I3DExConstraint:

List of all members.

Public Member Functions
virtual int16 MCCOMAPI	GetNbrFreedom () const =0
virtual MCCOMErr MCCOMAPI	IncrementFreedomValue (int16 index, real &increment)=0
virtual MCCOMErr MCCOMAPI	GetMotionLimit (int16 index, ELimitType &limit) const =0
virtual MCCOMErr MCCOMAPI	GetFreedomRange (int16 index, real &min, real &max) const =0
virtual MCCOMErr MCCOMAPI	GetTransform (TTransform3D &transform) const =0
virtual MCCOMErr MCCOMAPI	GetTransformPartialDerivate (int16 index, TTransform3D &transform) const =0
virtual MCCOMErr MCCOMAPI	GetTransformSecondPartialDerivative (int16 index1, int16 index2, TTransform3D &transform) const =0
virtual MCCOMErr MCCOMAPI	SetTransform (TTransform3D &transform)=0

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Detailed Description

I3DExConstraint provides constraints between Tree Elements. A constraint, known as a link in RDS, defines motion links between Tree Elements. It allows you to define "mechanical" constrains (degrees of freedom) between one Tree Element and its father.

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Member Function Documentation

virtual MCCOMErr MCCOMAPI I3DExConstraint::GetFreedomRange (  int16  index, real &  min, real &  max )  const [pure virtual]

Returns the maximum range of increment and decrement for a given degree of freedom. Parameters: index  The index of the degree of freedom min  The minimum value max  The maximum value Implemented in TBasicConstraint.

virtual MCCOMErr MCCOMAPI I3DExConstraint::GetMotionLimit (  int16  index, ELimitType &  limit )  const [pure virtual]

Returns the constraint for a given degree of freedom. Implemented in TBasicConstraint.

virtual int16 MCCOMAPI I3DExConstraint::GetNbrFreedom (   )  const [pure virtual]

Returns the number of degrees of freedom. Because the freedom value can be limited, you have to give the range of values. This range is defined as a range of increment/decrement around the value. Implemented in TBasicConstraint.

virtual MCCOMErr MCCOMAPI I3DExConstraint::GetTransform (  TTransform3D &  transform  )  const [pure virtual]

Returns the rotation matrix and translation vector due to the freedom values. Note: When the freedom values are initialized the function GetTransform must return the identity matrix for the rotation and a null vector for the translation. Parameters: transform  A reference to a transform. Implemented in TBasicConstraint.

virtual MCCOMErr MCCOMAPI I3DExConstraint::GetTransformPartialDerivate (  int16  index, TTransform3D &  transform )  const [pure virtual]

To allow the inverse kinematics mechanism to work with a constraint, implement the GetTransfromPartialDerivate() function. A partial derivative transformation is a transformation where each element is derived by a freedom degree. Parameters: index  The degree of freedom used to derivate the transform. transform  The partial derivative of the transform. Implemented in TBasicConstraint.

virtual MCCOMErr MCCOMAPI I3DExConstraint::GetTransformSecondPartialDerivative (  int16  index1, int16  index2, TTransform3D &  transform )  const [pure virtual]

Returns the second order partial derivative of the transform. A partial derivative transformation is a transformation where each element is derived by a freedom degree. Parameters: index1  The first degree of freedom used to derivate the transform. index2  The second degree of freedom used to derivate the transform. transform  The partial derivative of the transform. Implemented in TBasicConstraint.

virtual MCCOMErr MCCOMAPI I3DExConstraint::IncrementFreedomValue (  int16  index, real &  increment )  [pure virtual]

Modify the value of a degree of freedom by adding an increment Parameters: index  The degree of freedom See also: EFreedomDegree Parameters: increment  The increment value Implemented in TBasicConstraint.

virtual MCCOMErr MCCOMAPI I3DExConstraint::SetTransform (  TTransform3D &  transform  )  [pure virtual]

Sets the transformation matrix. Implemented in TBasicConstraint.

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

• I3dExConstraint.h

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