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CordeModel Class Reference


struct  Config

Public Member Functions

 CordeModel (btVector3 pos1, btVector3 pos2, btQuaternion quat1, btQuaternion quat2, CordeModel::Config &Config)
void step (btScalar dt)

Detailed Description

Definition at line 39 of file CordeModel.h.

Constructor & Destructor Documentation

CordeModel::CordeModel ( btVector3  pos1,
btVector3  pos2,
btQuaternion  quat1,
btQuaternion  quat2,
CordeModel::Config Config 

A constructor which assumes uniformally distributed mass points and rotation pos1 and pos2 specify the start and end points of the rod. quat1 and quat2 need to be computed based on the torsion in the rod. Note that if there is neither bending nor torsion one can say quat1 = quat2 = btQuaternion((pos2 - pos1).normalize, 0) (axis-angle constructor)

develop a constructor that can handle more complex shapes i.e. wrapped around a motor. This one maxes out at 1 - eps rotations

Definition at line 84 of file CordeModel.cpp.

The documentation for this class was generated from the following files: