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<title>Crystal Space 1.2.1: iODEUniversalJoint Struct Reference (Crystal Space 1.2.1 Public API Reference)</title>
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<h1>iODEUniversalJoint Struct Reference</h1><!-- doxytag: class="iODEUniversalJoint" --><!-- doxytag: inherits="iODEGeneralJointState" -->A universal joint is like a ball and socket joint that constrains an extra degree of rotational freedom.
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="ode_8h-source.html">ivaria/ode.h</a>></code>
<p>
<div class="dynheader">
Inheritance diagram for iODEUniversalJoint:</div>
<div class="dynsection">
<p><center><img src="structiODEUniversalJoint__inherit__graph.png" border="0" usemap="#iODEUniversalJoint__inherit__map" alt="Inheritance graph"></center>
<map name="iODEUniversalJoint__inherit__map">
<area shape="rect" href="structiODEGeneralJointState.html" title="General joint state." alt="" coords="5,84,173,111"><area shape="rect" href="structiBase.html" title="This is the basic interface: all other interfaces should be derived from this one..." alt="" coords="61,7,117,33"></map>
<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
<p>
<a href="structiODEUniversalJoint-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#d4d03191150c2ff0d13069608ca7807a">GetUniversalAnchor1</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the joint anchor point, in world coordinates. <a href="#d4d03191150c2ff0d13069608ca7807a"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#16ea61c66ace64f352b3147d2e3ba83f">GetUniversalAnchor2</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the joint anchor point, in world coordinates. <a href="#16ea61c66ace64f352b3147d2e3ba83f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#c45c2fd6e442360b3c8b012f3be39335">GetUniversalAxis1</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get universal axis on body 1. <a href="#c45c2fd6e442360b3c8b012f3be39335"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#1cc94f896b7688b988c6da937c5bb5b3">GetUniversalAxis2</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get universal axis on body 2. <a href="#1cc94f896b7688b988c6da937c5bb5b3"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#5a27a1da7e2ae6a8596e279bff616c35">SetUniversalAnchor</a> (float x, float y, float z)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set universal anchor. <a href="#5a27a1da7e2ae6a8596e279bff616c35"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#d98a28f1e2ccb9cd4f594d8fe1913090">SetUniversalAxis1</a> (float x, float y, float z)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set axis on body 1 (should be perpendicular to axis 2). <a href="#d98a28f1e2ccb9cd4f594d8fe1913090"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEUniversalJoint.html#b51bad40a679a753ee347436b47c4680">SetUniversalAxis2</a> (float x, float y, float z)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set axis on body 2 (should be perpendicular to axis 1). <a href="#b51bad40a679a753ee347436b47c4680"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
A universal joint is like a ball and socket joint that constrains an extra degree of rotational freedom.
<p>
Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal.
<p>Definition at line <a class="el" href="ode_8h-source.html#l00609">609</a> of file <a class="el" href="ode_8h-source.html">ode.h</a>.</p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="d4d03191150c2ff0d13069608ca7807a"></a><!-- doxytag: member="iODEUniversalJoint::GetUniversalAnchor1" ref="d4d03191150c2ff0d13069608ca7807a" args="()=0" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEUniversalJoint::GetUniversalAnchor1 </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the joint anchor point, in world coordinates.
<p>
This returns the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.
</div>
</div><p>
<a class="anchor" name="16ea61c66ace64f352b3147d2e3ba83f"></a><!-- doxytag: member="iODEUniversalJoint::GetUniversalAnchor2" ref="16ea61c66ace64f352b3147d2e3ba83f" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEUniversalJoint::GetUniversalAnchor2 </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the joint anchor point, in world coordinates.
<p>
This returns the point on body 2. If the joint is perfectly satisfied, this will be the same as the point on body 1.
</div>
</div><p>
<a class="anchor" name="c45c2fd6e442360b3c8b012f3be39335"></a><!-- doxytag: member="iODEUniversalJoint::GetUniversalAxis1" ref="c45c2fd6e442360b3c8b012f3be39335" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEUniversalJoint::GetUniversalAxis1 </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get universal axis on body 1.
<p>
</div>
</div><p>
<a class="anchor" name="1cc94f896b7688b988c6da937c5bb5b3"></a><!-- doxytag: member="iODEUniversalJoint::GetUniversalAxis2" ref="1cc94f896b7688b988c6da937c5bb5b3" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEUniversalJoint::GetUniversalAxis2 </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get universal axis on body 2.
<p>
</div>
</div><p>
<a class="anchor" name="5a27a1da7e2ae6a8596e279bff616c35"></a><!-- doxytag: member="iODEUniversalJoint::SetUniversalAnchor" ref="5a27a1da7e2ae6a8596e279bff616c35" args="(float x, float y, float z)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual void iODEUniversalJoint::SetUniversalAnchor </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>z</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Set universal anchor.
<p>
</div>
</div><p>
<a class="anchor" name="d98a28f1e2ccb9cd4f594d8fe1913090"></a><!-- doxytag: member="iODEUniversalJoint::SetUniversalAxis1" ref="d98a28f1e2ccb9cd4f594d8fe1913090" args="(float x, float y, float z)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual void iODEUniversalJoint::SetUniversalAxis1 </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>z</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Set axis on body 1 (should be perpendicular to axis 2).
<p>
</div>
</div><p>
<a class="anchor" name="b51bad40a679a753ee347436b47c4680"></a><!-- doxytag: member="iODEUniversalJoint::SetUniversalAxis2" ref="b51bad40a679a753ee347436b47c4680" args="(float x, float y, float z)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual void iODEUniversalJoint::SetUniversalAxis2 </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>z</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Set axis on body 2 (should be perpendicular to axis 1).
<p>
</div>
</div><p>
<hr>The documentation for this struct was generated from the following file:<ul>
<li>ivaria/<a class="el" href="ode_8h-source.html">ode.h</a></ul>
<hr size="1"><address><small>Generated for Crystal Space 1.2.1 by
<a href="http://www.doxygen.org/index.html">doxygen</a> 1.5.3
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