LocalConstraint Class Reference

An AxisPlaneConstraint defined in the Frame local coordinate system. More...

List of all members.

Public Member Functions

virtual ~LocalConstraint ()
virtual void constrainTranslation (Vec &translation, Frame *const frame)
virtual void constrainRotation (Quaternion &rotation, Frame *const frame)

Detailed Description

An AxisPlaneConstraint defined in the Frame local coordinate system.

The translationConstraintDirection() and rotationConstraintDirection() are expressed in the Frame local coordinate system (see Frame::referenceFrame()).

See the constrainedFrame example for an illustration.


Constructor & Destructor Documentation

virtual ~LocalConstraint (  )  [virtual]

Virtual destructor. Empty.


Member Function Documentation

void constrainRotation ( Quaternion rotation,
Frame *const  frame 
) [virtual]

When rotationConstraintType() is AxisPlaneConstraint::AXIS, constrain rotation to be a rotation around an axis whose direction is defined in the Frame local coordinate system by rotationConstraintDirection().

Reimplemented from AxisPlaneConstraint.

void constrainTranslation ( Vec translation,
Frame *const   frame 
) [virtual]

Depending on translationConstraintType(), constrain translation to be along an axis or limited to a plane defined in the Frame local coordinate system by translationConstraintDirection().

Reimplemented from AxisPlaneConstraint.

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