bool SimulationModel::addUniversalJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Eigen::Vector3f &pos, const Eigen::Vector3f &axis1, const Eigen::Vector3f &axis2)
{
UniversalJoint *uj = new UniversalJoint();
const bool res = uj->initConstraint(*this, rbIndex1, rbIndex2, pos, axis1, axis2);
if (res)
{
m_constraints.push_back(uj);
m_groupsInitialized = false;
}
return res;
}
SimObject* UniversalJoint::clone() const
{
UniversalJoint* newUniversalJoint = new UniversalJoint();
//copy SimObject members
newUniversalJoint->copyStandardMembers(this);
bool createsNewMovID = newUniversalJoint->adjustMovableID();
//copy joint members
//axes
std::vector<AxisDescription>::const_iterator axesIter;
for(axesIter = axes.begin(); axesIter != axes.end(); ++axesIter)
{
newUniversalJoint->axes.push_back(*axesIter);
if(axesIter->motor != NULL)
{
newUniversalJoint->motors.push_back(axesIter->motor->clone());
newUniversalJoint->axes.back().motor = newUniversalJoint->motors.back();
}
}
//currentMotor
if(!newUniversalJoint->motors.empty())
{
newUniversalJoint->currentMotor = newUniversalJoint->motors.back();
}
//copy universal joint members
newUniversalJoint->anchorPoint = anchorPoint;
newUniversalJoint->axis1 = &(newUniversalJoint->axes[0]);
newUniversalJoint->axis2 = &(newUniversalJoint->axes[1]);
//copy child nodes
std::list<SimObject*>::const_iterator pos;
for(pos = childNodes.begin(); pos != childNodes.end(); ++pos)
{
SimObject* childNode = (*pos)->clone();
newUniversalJoint->addChildNode(childNode, false);
}
if(createsNewMovID)
{
simulation->removeCurrentMovableID();
}
SimObject* newObject = newUniversalJoint;
return newObject;
}
/** creates vehicle at desired position
@param pos struct Position with desired position
*/
void SchlangeVelocity::create(const osg::Matrix& pose){
Schlange::create(pose);
//*****************joint definition***********
for ( int n = 0; n < conf.segmNumber-1; n++ ) {
Pos p1(objects[n]->getPosition());
Pos p2(objects[n]->getPosition());
UniversalJoint* j = new UniversalJoint(objects[n], objects[n+1],
(objects[n]->getPosition() + objects[n+1]->getPosition())/2,
Axis(0,0,1)* pose, Axis(0,1,0)* pose);
j->init(odeHandle, osgHandle, true, conf.segmDia * 1.02);
// setting stops at universal joints
j->setParam(dParamLoStop, -conf.jointLimit*1.5);
j->setParam(dParamHiStop, conf.jointLimit*1.5);
j->setParam(dParamLoStop2, -conf.jointLimit*1.5);
j->setParam(dParamHiStop2, conf.jointLimit*1.5);
// making stops bouncy
j->setParam (dParamBounce, 0.9 );
j->setParam (dParamBounce2, 0.9 ); // universal
joints.push_back(j);
}
}
/** creates vehicle at desired position
@param pos struct Position with desired position
*/
void Hexapod::create( const osg::Matrix& pose ){
if (created) {
destroy();
}
odeHandle.createNewSimpleSpace(parentspace,true);
// color of joint axis and whiskers
OsgHandle osgHandleJ = osgHandle.changeColor(Color(72./255.,16./255.,16./255.));
TwoAxisServoVel* servo;
OneAxisServo* spring;
OneAxisServo* spring2;
FixedJoint* fixedJoint;
// create body
double twidth = conf.size * conf.width ;// 1/1.5;
double theight = conf.size * conf.height; // 1/4;
trunk = new Box(conf.size, twidth, theight);
trunk->setTexture("Images/toy_fur3.jpg");
trunk->init(odeHandle, conf.mass*conf.percentageBodyMass, osgHandle);
osg::Matrix trunkPos = TRANSM(0,0,conf.legLength)*pose;
trunk->setPose(trunkPos);
objects.push_back(trunk);
if(conf.useBigBox){
Primitive* pole;
double poleheight=conf.size*2;
pole = new Box(poleheight, twidth*3.2, theight*1);
bigboxtransform= new Transform(trunk,pole, osg::Matrix::translate(0,0,2*theight));
bigboxtransform->init(odeHandle, 0, osgHandle,Primitive::Geom /*| Primitive::Draw */);
}else{
bigboxtransform=0;
}
osg::Matrix m0 = pose;
if(conf.irSensors == true){
for(int i = -1; i < 2; i+=2){
irbox = new Box(0.1,0.1,0.1);
irbox->setTexture("Images/toy_fur3.jpg");
irbox->init(odeHandle, 0.00001, osgHandle);
irbox->setPose(ROTM(M_PI/4,0,0,1) * TRANSM(i*conf.size/2,0,theight/2)*trunkPos);
objects.push_back(irbox);
fixedJoint = new FixedJoint(trunk,irbox);
fixedJoint->init(odeHandle, osgHandleJ, true, 0.4);
joints.push_back(fixedJoint);
}
for(int i = -1; i < 2; i+=2){
irbox = new Box(0.1,0.1,0.15);
irbox->setTexture("Images/toy_fur3.jpg");
irbox->init(odeHandle, 0.00001, osgHandle);
irbox->setPose(TRANSM(0,i*twidth/2,theight/2 + 0.05)*trunkPos);
objects.push_back(irbox);
fixedJoint = new FixedJoint(trunk,irbox);
fixedJoint->init(odeHandle, osgHandleJ, true, 0.4);
joints.push_back(fixedJoint);
}
irSensorBank.init(odeHandle, osgHandle);
if (conf.irFront){ // add front left and front right infrared sensor to sensorbank if required
IRSensor* sensor = new IRSensor();
irSensorBank.registerSensor(sensor, objects[2],
Matrix::rotate(-1*-M_PI/2, Vec3(0,1,0)) *
Matrix::translate(1*0.05,0,0),
conf.irRangeFront, RaySensor::drawAll);
IRSensor* sensor2 = new IRSensor();
irSensorBank.registerSensor(sensor2, objects[2],
Matrix::rotate(-1*-M_PI/2, Vec3(0,1,0)) *
Matrix::rotate(1*-M_PI/2, Vec3(0,0,1)) *
Matrix::translate(0,-0.05,0),
conf.irRangeFront, RaySensor::drawAll);
}
if (conf.irBack){ // add front left and front right infrared sensor to sensorbank if required
IRSensor* sensor = new IRSensor();
irSensorBank.registerSensor(sensor, objects[1],
Matrix::rotate(1*-M_PI/2, Vec3(0,1,0)) *
Matrix::translate(-1*0.05,0,0),
conf.irRangeBack, RaySensor::drawAll);
IRSensor* sensor2 = new IRSensor();
irSensorBank.registerSensor(sensor2, objects[1],
Matrix::rotate(1*-M_PI/2, Vec3(0,1,0)) *
Matrix::rotate(1*-M_PI/2, Vec3(0,0,1)) *
Matrix::translate(0,0.05,0),
conf.irRangeBack, RaySensor::drawAll);
}
if(conf.irLeft){
IRSensor* sensor = new IRSensor();
irSensorBank.registerSensor(sensor, objects[3],
Matrix::rotate(-1*-M_PI/2, Vec3(0,1,0)) *
Matrix::rotate(-M_PI/2, Vec3(0,0,1)) *
Matrix::translate(0,-0.05,0.05),
conf.irRangeLeft, RaySensor::drawAll);
/* IRSensor* sensor2 = new IRSensor();
irSensorBank.registerSensor(sensor2, objects[3],
Matrix::rotate(-1*-M_PI/2, Vec3(0,1,0)) *
Matrix::rotate(1*-M_PI/2, Vec3(0,0,1)) *
Matrix::translate(0,-0.05,0),
conf.irRangeLeft, RaySensor::drawAll);
*/
}
if(conf.irRight){
IRSensor* sensor = new IRSensor();
irSensorBank.registerSensor(sensor, objects[4],
Matrix::rotate(-1*-M_PI/2, Vec3(0,1,0)) *
Matrix::rotate(M_PI/2, Vec3(0,0,1)) *
Matrix::translate(0,0.05,0.05),
conf.irRangeLeft, RaySensor::drawAll);
/* IRSensor* sensor2 = new IRSensor();
irSensorBank.registerSensor(sensor2, objects[4],
Matrix::rotate(1*-M_PI/2, Vec3(0,1,0)) *
Matrix::rotate(1*-M_PI/2, Vec3(0,0,1)) *
Matrix::translate(0,0.05,0),
conf.irRangeRight, RaySensor::drawAll);
*/
}
}
std::vector<Primitive*> tarsusParts;
// legs (counted from back to front)
double legdist = conf.size*0.9 / (conf.legNumber/2-1);
for ( int n = 0; n < conf.legNumber; n++ ) {
int v = n;
double len1 = conf.legLength*0.5;
double rad1 = conf.legLength/15;
double len2 = conf.legLength*0.5;
double rad2 = conf.legLength/15;
// upper limp
Primitive* coxaThorax;
Pos pos = Pos(-conf.size/(2+0.2) + ((int)n/2) * legdist,
n%2==0 ? - twidth/2 : twidth/2,
conf.legLength - theight/3);
osg::Matrix m = ROTM(M_PI/2,v%2==0 ? -1 : 1,0,0) * TRANSM(pos) * pose;
coxaThorax = new Capsule(rad1, len1);
coxaThorax->setTexture("Images/toy_fur3.jpg");
coxaThorax->init(odeHandle, legmass, osgHandle);
osg::Matrix m1 = TRANSM(0,0,-len1/2)
* ROTM(M_PI,0,0,v%2==0 ? -1 : 1)
* ROTM(2*M_PI,0,v%2==0 ? -1 : 1,0) * m;
coxaThorax->setPose(m1);
thoraxPos.push_back(coxaThorax->getPosition());
thorax.push_back(coxaThorax);
objects.push_back(coxaThorax);
legs.push_back(coxaThorax);
// powered hip joint
Pos nullpos(0,0,0);
UniversalJoint* j
= new UniversalJoint(trunk, coxaThorax, nullpos * m,
ROTM(M_PI,0,0,v%2==0 ? -1 : 1) * Axis(v%2==0 ? -1 : 1,0,0) * m,
ROTM(M_PI,0,0,v%2==0 ? -1 : 1) * Axis(0,1,0) * m);
j->init(odeHandle, osgHandleJ, true, rad1 * 2.1);
joints.push_back(j);
legContactArray[n].joint = j->getJoint();
// values will be set in setParam later
servo = new TwoAxisServoVel(odeHandle, j,-1,1, 1, -1,1,1,0 );
// servo = new UniversalServo(j,-1,1, 1, -1,1,1,0);
hipservos.push_back(servo);
// lower leg
Primitive* tibia;
tibia = new Capsule(rad2, len2);
tibia->setTexture("Images/toy_fur3.jpg");
tibia->init(odeHandle, legmass, osgHandle);
osg::Matrix m2 = TRANSM(0,0,-len2/2) * ROTM(1.5,v%2==0 ? -1 : 1,0,0)
* TRANSM(0,0,-len1/2) * m1;
tibia->setPose(m2);
objects.push_back(tibia);
legs.push_back(tibia);
legContactArray[n].legID = n;
legContactArray[n].geomid = tibia->getGeom();
legContactArray[n].bodyID = tibia->getBody();
if(conf.useTebiaJoints){
// springy knee joint
HingeJoint* k = new HingeJoint(coxaThorax, tibia, Pos(0,0,-len1/2) * m1,
Axis(v%2==0 ? -1 : 1,0,0) * m1);
k->init(odeHandle, osgHandleJ, true, rad1 * 2.1);
// servo used as a spring
spring = new HingeServo(k, -1, 1, 1, 0.01,0); // parameters are set later
tebiasprings.push_back(spring);
joints.push_back(k);
}else{
// fixed knee joint
FixedJoint* k = new FixedJoint(coxaThorax, tibia);
k->init(odeHandle, osgHandleJ, false, rad1 * 2.1);
joints.push_back(k);
}
// lower limp should not collide with body!
odeHandle.addIgnoredPair(trunk,tibia);
if(conf.tarsus){
// New: tarsus
Primitive *tarsus;
double angle = M_PI/12;
double radius = rad2/2;
double length = len2/2;
double mass = legmass/10;
tarsus = new Capsule(radius,length);
tarsus->setTexture("Images/toy_fur3.jpg");
tarsus->init(odeHandle, mass, osgHandle);
osg::Matrix m4;
osg::Matrix m3 =
ROTM(-angle,v%2==0 ? -1 : 1,0,0) *
TRANSM(0,0,-len2/2) *
m2;
if(v < 2){
m4 = ROTM(v%2==0 ? angle : -angle,0,v%2==0 ? -1 : 1,0) * m3;
}else if( v > 3){
m4 = ROTM(v%2==0 ? -angle : angle,0,v%2==0 ? -1 : 1,0) * m3;
}else{
m4 = m3;
}
m4 = TRANSM(0,0,-length/2) * m4;
tarsus->setPose(m4);
tarsusParts.push_back(tarsus);
objects.push_back(tarsus);
if(conf.useTarsusJoints){
// springy joint
HingeJoint* k = new HingeJoint(tibia, tarsus, Pos(0,0,-len2/2) * m2,
Axis(v%2==0 ? -1 : 1,0,0) * m2);
k->init(odeHandle, osgHandleJ, true, rad1 * 2.1);
// servo used as a spring
// spring2 = new HingeServo(k, -1, 1, 1, 0.01,0); // parameters are set later
spring2 = new OneAxisServoVelocityControlled(odeHandle,k, -1, 1, 1, 0.01); // parameters are set later
tarsussprings.push_back(spring2);
joints.push_back(k);
}else{
FixedJoint* k = new FixedJoint(tibia, tarsus);
k->init(odeHandle, osgHandleJ, true, rad1 * 2.1);
joints.push_back(k);
}
Primitive *section = tarsus;
for(int i = 1; i < conf.numTarsusSections; i++){
double lengthS = length/1.5;
double radiusS = radius/1.5;
section = new Capsule(radiusS,lengthS);
section->setTexture("Images/toy_fur3.jpg");
section->init(odeHandle, mass/2, osgHandle);
osg::Matrix m5;
if(v < 2){
m5 = TRANSM(0,0,-lengthS/2) *
ROTM(v%2==0 ? angle : -angle,0,v%2==0 ? -1 : 1,0) *
ROTM(v%2==0 ? angle : -angle,1,0,0) *
TRANSM(0,0,-length/2) *
m4;
}else if(v > 3){
m5 = TRANSM(0,0,-lengthS/2) *
ROTM(v%2==0 ? -angle : angle,0,v%2==0 ? -1 : 1,0) *
ROTM(v%2==0 ? angle : -angle,1,0,0) *
TRANSM(0,0,-length/2) *
m4;
}else{
m5 = TRANSM(0,0,-lengthS/2) *
ROTM(v%2==0 ? angle : -angle,1,0,0) *
TRANSM(0,0,-length/2) *
m4;
}
section->setPose(m5);
objects.push_back(section);
tarsusParts.push_back(section);
FixedJoint* fj = new FixedJoint(tarsusParts[i-1], tarsusParts[i]);
fj->init(odeHandle, osgHandleJ, true, rad1 * 2.1);
joints.push_back(fj);
m4 = m5;
}
std::cout<< "legContactArray[" << n << "].legID = " << n << std::endl;
legContactArray[n].legID = n;
legContactArray[n].geomid = section->getGeom();
legContactArray[n].bodyID = section->getBody();
tarsusParts.clear();
}
}
// New: wiskers
for ( int n = -1; n < 2; n+=2 ) {
double l1 = conf.legLength*0.5;
double t1 = conf.legLength/30;
Primitive* whisker;
Pos pos = Pos(conf.size/(2)+t1,
n*twidth/4,
conf.legLength + theight/5);
osg::Matrix m = ROTM(M_PI/10, n,0,0) * ROTM(M_PI/2+M_PI/10, 0,-1,0) * TRANSM(pos) * pose;
whisker = new Capsule(t1, l1);
whisker->init(odeHandle, legmass/10, osgHandleJ);
osg::Matrix m1 = TRANSM(0,0,-l1/2) * m;
whisker->setPose(m1);
objects.push_back(whisker);
//FixedJoint* k = new FixedJoint(trunk, whisker);
//k->init(odeHandle, osgHandle, false, 0);
HingeJoint* k = new HingeJoint(trunk, whisker, Pos(0,0,0) * m,
Axis(1,0,0) * m);
k->init(odeHandle, osgHandleJ, true, t1 * 2.1);
// servo used as a spring
spring = new HingeServo(k, -M_PI/6, M_PI/6, .1, 0.01,0);
whiskersprings.push_back(spring);
joints.push_back(k);
Primitive* whisker2;
whisker2 = new Capsule(t1/2, l1);
whisker2->init(odeHandle, legmass/10, osgHandleJ);
osg::Matrix m2 = TRANSM(0,0,-l1/2)
* ROTM(M_PI/10, n,0,0)
* ROTM(M_PI/10, 0,1,0) * TRANSM(0,0,-l1/2) * m1;
whisker2->setPose(m2);
objects.push_back(whisker2);
// k = new FixedJoint(whisker, whisker2);
// k->init(odeHandle, osgHandleJ, false, 0);
k = new HingeJoint(whisker, whisker2, Pos(0,0,-l1/2) * m1,
Axis(0,1,0) * m1);
k->init(odeHandle, osgHandleJ, true, t1 * 2.1);
// servo used as a spring
spring = new HingeServo(k, -M_PI/6, M_PI/6, .05, 0.01,0);
whiskersprings.push_back(spring);
joints.push_back(k);
}
notifyOnChange("dummy"); // apply all parameters.
created=true;
};
Joint* JointInteraction::xmlParseJoint(IrrXMLReader* xml, std::string& jointType)
{
bool finished = false;
Constraint* constraint = NULL;
Joint* joint = JointFactory::create(xml->getAttributeValue("type"));
jointType = xml->getAttributeValue("type");
joint->setWorld(world);
joint->setId(atoi(xml->getAttributeValue("id")));
joint->setJointInteractionClass(this);
if (xml->getAttributeValue("active"))
joint->setActive(atoi(xml->getAttributeValue("active")));
while (!finished && xml && xml->read())
{
switch (xml->getNodeType())
{
case EXN_ELEMENT:
if (!strcmp("entities", xml->getNodeName()))
{
xmlParseEntities(xml, joint);
} // else if
else if (!strcmp("anchor", xml->getNodeName()))
{
if (!jointType.compare("ball") || !jointType.compare("Ball") || !jointType.compare("BALL"))
{
BallJoint* ball = dynamic_cast<BallJoint*>(joint);
ball->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // if
else if (!jointType.compare("hinge") || !jointType.compare("Hinge") || !jointType.compare("HINGE"))
{
HingeJoint* hinge = dynamic_cast<HingeJoint*>(joint);
hinge->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // else if
else if (!jointType.compare("universal") || !jointType.compare("Universal") || !jointType.compare("UNIVERSAL"))
{
UniversalJoint* universal = dynamic_cast<UniversalJoint*>(joint);
universal->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // else if
else if (!jointType.compare("hinge2") || !jointType.compare("Hinge2") || !jointType.compare("HINGE2"))
{
Hinge2Joint* hinge2 = dynamic_cast<Hinge2Joint*>(joint);
hinge2->setAnchor(atof(xml->getAttributeValue("xPos")), atof(xml->getAttributeValue("yPos")), atof(xml->getAttributeValue("zPos")));
} // else if
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: JOINT-TYPE %s NEEDS NO anchor ELEMENT!!!\n", jointType.c_str());
} // else if
else if (!strcmp("axis", xml->getNodeName()))
{
if (!jointType.compare("hinge") || !jointType.compare("Hinge") || !jointType.compare("HINGE"))
{
HingeJoint* hinge = dynamic_cast<HingeJoint*>(joint);
hinge->setAxis(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
} // if
else if (!jointType.compare("slider") || !jointType.compare("Slider") || !jointType.compare("SLIDER"))
{
SliderJoint* slider = dynamic_cast<SliderJoint*>(joint);
slider->setAxis(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
} // else if
else if (!jointType.compare("universal") || !jointType.compare("Universal") || !jointType.compare("UNIVERSAL")) {
UniversalJoint* universal = dynamic_cast<UniversalJoint*>(joint);
if (atoi(xml->getAttributeValue("index")) == 1)
universal->setAxis1(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else if (atoi(xml->getAttributeValue("index")) == 2)
universal->setAxis2(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: WRONG ATTRIBUTE FOUND IN axis ELEMENT of UniversalJoint!!!\n");
} // else if
else if (!jointType.compare("hinge2") || !jointType.compare("Hinge2") || !jointType.compare("HINGE2")) {
Hinge2Joint* hinge2 = dynamic_cast<Hinge2Joint*>(joint);
if (atoi(xml->getAttributeValue("index")) == 1)
hinge2->setAxis1(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else if (atoi(xml->getAttributeValue("index")) == 2)
hinge2->setAxis2(atof(xml->getAttributeValue("xDir")), atof(xml->getAttributeValue("yDir")), atof(xml->getAttributeValue("zDir")));
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: WRONG ATTRIBUTE FOUND IN axis ELEMENT of Hinge2Joint!!!\n");
} // else if
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: JOINT-TYPE %s NEEDS NO axis ELEMENT!!!\n", jointType.c_str());
} // else if
else if (!strcmp("angles", xml->getNodeName()))
{
if (!jointType.compare("hinge") || !jointType.compare("Hinge") || !jointType.compare("HINGE"))
{
HingeJoint* hinge = dynamic_cast<HingeJoint*>(joint);
hinge->setAngles(atof(xml->getAttributeValue("min")), atof(xml->getAttributeValue("max")));
} // if
else
printd(WARNING, "JointInteraction::loadJoints(): WARNING: JOINT-TYPE %s HAS NO angles ELEMENT!!!\n", jointType.c_str());
} // else if
else if (!strcmp("positions", xml->getNodeName()))
{
SliderJoint* slider = dynamic_cast<SliderJoint*>(joint);
slider->setPositions(atof(xml->getAttributeValue("min")), atof(xml->getAttributeValue("max")));
} // else if
else if (!strcmp("activateIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::ACTIVATEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
else if (!strcmp("deactivateIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::DEACTIVATEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
else if (!strcmp("activeIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::ACTIVEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
else if (!strcmp("inactiveIF", xml->getNodeName()))
{
constraint = new Constraint(this);
constraint->setActionType(Constraint::INACTIVEIF);
constraint->setOwner(joint);
xmlParseConstraintAttributes(xml, constraint);
joint->addConstraint(constraint);
constraint = NULL;
} // else if
break;
case EXN_ELEMENT_END:
if (!strcmp("joint", xml->getNodeName()))
finished = true;
break;
default:
break;
} // switch
} // while
assert(xml);
return joint;
} // xmlParseJoint
