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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 | |
| virtual void | SetParam (PHGenericJointIf *jnt, const std::string &name, double value) |
| virtual bool | IsCyclic (PHGenericJointIf *jnt) |
| virtual void | GetMovableAxes (PHGenericJointIf *jnt, int &n, int *indices) |
| virtual void | CompBias (PHGenericJointIf *jnt, Vec3d &dbv, Vec3d &dbw, const Vec3d &prel, const Quaterniond &qrel, const Vec3d &vrel, const Vec3d &wrel) |
| virtual void | CompError (PHGenericJointIf *jnt, Vec3d &Bv, Vec3d &Bw, const Vec3d &prel, const Quaterniond &qrel) |
| virtual void | UpdateJointState (PHGenericJointIf *jnt, double &pos, double &vel, const Vec3d &prel, const Quaterniond &qrel, const Vec3d &vrel, const Vec3d &wrel) |
| virtual void | CompJointJacobian (PHGenericJointIf *jnt, Vec3d &Jv, Vec3d &Jw, double pos) |
| virtual void | CompJointCoriolisAccel (PHGenericJointIf *jnt, Vec3d &cv, Vec3d &cw, double pos, double vel) |
| virtual void | CompRelativePosition (PHGenericJointIf *jnt, Vec3d &prel, Quaterniond &qrel, double pos) |
| virtual void | CompRelativeVelocity (PHGenericJointIf *jnt, Vec3d &vrel, Vec3d &wrel, double pos, double vel) |
1.8.5