# Dynamic.h File Reference

Header file for Dynamic, adds haptic input to the DynamicTransform class. More...

`#include "H3DNetworkingUtils/Config.h"`
`#include "H3D/DynamicTransform.h"`
`#include "H3D/MFVec3f.h"`
`#include "H3D/SFVec3f.h"`
`#include "H3D/SFMatrix4f.h"`
`#include "H3D/SFInt32.h"`
`#include "H3D/MFInt32.h"`

Go to the source code of this file.

## Namespaces
namespace | H3DNetworkingUtils
## Classes
class | H3DNetworkingUtils::Dynamic
| The Dynamic class is a DynamicTransform that puts the necessary routes in place to collect haptic forces on its enclosed geometry and influence the motion of the transform. More...
struct | H3DNetworkingUtils::Dynamic::SumMFVec3f
| SumMFVec3f implements the impulseForce and impulseTorque fields of the MF route_in. More...
class | H3DNetworkingUtils::Dynamic::SumForces
| The SumForces class just sums the forces of the MFVec3f with any SFVec3f fields that are routed to it. More...
class | H3DNetworkingUtils::Dynamic::SumTorques
| The SumTorques class just sums all SFVec3f fields that are routed to it. More...
class | H3DNetworkingUtils::Dynamic::CalcTorque
| The CalcTorque field calulates the torque applied to the geometry with the haptics device /n routes_in[0] is the accumulatedForward matrix of this node /n routes_in[1] is the accumulatedInverse matrix of this node /n routes_in[2] is the collection of forces from device contacts /n routes_in[3] is the collection of global positions of the device contacts /n routes_in[4] is the angularFreedom. More...
class | H3DNetworkingUtils::Dynamic::InvertForces
| Accumulates the forces on the haptic devices and inverts them to act on the Dynamic. More...
class | H3DNetworkingUtils::Dynamic::LinDamper
| The LinDamper class generates a force to dampen the linear motion of a DynamicTransform. More...
class | H3DNetworkingUtils::Dynamic::RotDamper
| RotDamper dampens the angular motion of the dynamic. More...
class | H3DNetworkingUtils::Dynamic::LinSpring
| The LinSpring class generates a spring force that tries to pull the node to the origin /n routes_in[0] is the current position of the DynamicTransform node /n routes_in[1] is the spring force /n 1st input is enabled, /n 2nd input is position, /n 3rd is springAnchorPoint, /n 4th is springStiffness, /n 5th is springRestLength, /n 6th is springSlackLength. More...

## Detailed Description

Header file for Dynamic, adds haptic input to the DynamicTransform class.