Kinematics Class Reference

Related Scripting Object: Kinematics | Supported Parameter List: kine

The Kinematics object represents the kinematics property of an X3DObject object. More...

#include <xsi_kinematics.h>

Inheritance diagram for Kinematics:

Detailed Description

See also:

X3DObject::GetKinematics

Example:

Illustrates how to convert a position from local coordinates to global coordinates.

        using namespace XSI;
        Application app;
        Model root = app.GetActiveSceneRoot();

        Model myModel;
        CRefArray emptyModel;
        root.AddModel( emptyModel, L"MyModel", myModel );
        myModel.GetParameter(L"posx").PutValue( (double)5.0 );

        Null myNull;
        myModel.AddNull( L"", myNull );
        myNull.GetParameter(L"posx").PutValue( (double)5.0 );

        // get local position
        MATH::CVector3 v3Pos( myNull.GetParameterValue(L"posx"),
                            myNull.GetParameterValue(L"posy"),
                            myNull.GetParameterValue(L"posz") );

        app.LogMessage( L"Local position = " +
                        CValue(v3Pos.GetX()).GetAsText() + L", " +
                        CValue(v3Pos.GetY()).GetAsText() + L", " +
                        CValue(v3Pos.GetZ()).GetAsText() );

        // transform local to global position
        MATH::CVector3 v3GlobalPos = MATH::MapObjectPositionToObjectSpace(
            myNull.GetKinematics().GetGlobal().GetTransform(),
            myNull.GetKinematics().GetLocal().GetTransform(),
            v3Pos );

        app.LogMessage( L"Global position = " +
                        CValue(v3GlobalPos.GetX()).GetAsText() + L", " +
                        CValue(v3GlobalPos.GetY()).GetAsText() + L", " +
                        CValue(v3GlobalPos.GetZ()).GetAsText() );

Constructor & Destructor Documentation

Default destructor.

Constructor.

Parameters:

in_ref

constant reference object.

Copy constructor.

Parameters:

in_obj

constant class object.

Member Function Documentation

Returns the type of the API class.

Returns:

The class type.

Reimplemented from Property.

Creates an object from another object. The newly created object is set to empty if the input object is not compatible.

Parameters:

in_obj

constant class object.

Returns:

The new Kinematics object.

Creates an object from a reference object. The newly created object is set to empty if the input reference object is not compatible.

Parameters:

in_ref

constant class object.

Returns:

The new Kinematics object.

Reimplemented from Property.

Returns an array of Constraint objects that are constraining the parent of this object.

Returns:

Array of Constraint objects.

Applies a constraint to this object's parent.

Parameters:

	in_preset	The type of constraint to add.
	in_cnsning	An array of X3DObject references that will act as constrainers.
	in_bComp	Compensation mode, true to turn compensation on.
	in_offsetCnsned	Optional offset which is applied in translation on the constrained object. The offset is used for Distance and Position constraints.
	in_offsetCnsning	Optional offset applied on the constraining object for Distance, Position, Surface and Trajectory constraints. The offset will be applied in rotation for the Orientation constraint, in translation for the Direction constraint and in scaling for the Scaling constraint.

Return values:

out_constraint

New constraint object

Returns:

CStatus::OK success

CStatus::InvalidArgument Preset or constraining objects are invalid.

CStatus::Fail failure

Returns a KinematicState object containing the local transformation of the X3DObject object (that is, the transformation relative to the parent).

Returns:

The KinematicState object.

See also:

X3DObject::GetLocalTranslation, X3DObject::GetLocalScaling, X3DObject::GetLocalRotation, X3DObject::PutLocalTranslation, X3DObject::PutLocalScaling, X3DObject::PutLocalRotation

Returns a KinematicState object containing the global transformation of the X3DObject object (that is, the transformation relative to the parent).

Returns:

The KinematicState object.

• xsi_kinematics.h