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Springhead
An open source physics engine for virtual reality, haptics and motion generation.
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Springhead
An open source physics engine for virtual reality, haptics and motion generation.
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Public メソッド | |
| BallJoint (PHIKBallActuatorIf *ball, std::string path, bool oe) | |
| void | Initialize (int iterate, double mtime, int nVia, double rate=1.0, bool vCorr=true) |
| void | MakeJointMinjerk (int cnt) |
| void | CloseFile () |
| void | SaveTorque (int n) |
| void | SaveTarget () |
| void | SetTarget (int k, int n) |
| void | SetTargetVelocity (int k, int n) |
| void | SetTargetInitial () |
| void | SetOffsetFromLPF (int n) |
| void | ResetOffset (double o) |
| void | SavePosition (int k, int n) |
| void | SaveVelocity (int k, int n) |
| void | SaveViaPoint (int v, int t) |
| void | SavePositionFromLPF (int k, int n) |
| void | SaveVelocityFromLPF (int k, int n) |
| void | TrajectoryCorrection (int k, bool s) |
| void | SetBestTorqueChange () |
| void | ApplyLPF (int count) |
| void | Soften () |
| void | Harden () |
| void | ResetPD () |
| double | CalcTotalTorqueChange () |
| double | CalcTotalTorqueChangeLPF () |
| double | CalcTorqueChangeInSection (int n) |
| double | GetBestTorqueChangeInSection (int n) |
| void | ShowInfo () |
| void | SetTargetCurrent () |
| void | SetPD (double s, double d, bool mul) |
| void | SetTargetFromLPF (int k, int n) |
| void | UpdateIKParam (double b, double p) |
| void | OutputTorque () |
| double | GetMaxForce () |
| void | SetWeight (double w) |
| void | SetPullbackTarget (int k, int n) |
| void | SetPullbackTargetFromInitial () |
Public 変数 | |
| PHIKBallActuatorIf * | ball |
| PHSceneIf * | scene |
| PTM::VVector< Vec3d > | torque |
| PTM::VVector< Vec3d > | torqueLPF |
| PTM::VMatrixRow< Quaterniond > | ori |
| PTM::VMatrixRow< Quaterniond > | oriLPF |
| PTM::VMatrixRow< Vec3d > | oriVels |
| PTM::VMatrixRow< Vec3d > | oriVelsLPF |
| Quaterniond | targetOri |
| Vec3d | targetVel |
| PTM::VVector< Quaterniond > | viaOris |
| PTM::VVector< Vec3d > | viaVels |
| PTM::VVector< double > | viatimes |
| Vec3d | initialTorque |
| Quaterniond | initialOri |
| Vec3d | initialVel |
| Quaterniond | initialPullbackTarget |
| int | iterate |
| double | mtime |
| int | movetime |
| double | weight = 1.0 |
| double | rateLPF = 1.0 |
| double | originalSpring |
| double | originalDamper |
| double | hardenSpring = 1e30 |
| double | hardenDamper = 1e8 |
| bool | mul = true |
| PTM::VVector< double > | tChanges |
| bool | viaCorrect |
| PTM::VMatrixRow< Quaterniond > | CorrTraj |
| PTM::VVector< double > | torqueChange |
| PTM::VVector< double > | torqueChangeLPF |
1.8.5