org.ode4j.cpp.internal
Class ApiCppJoint

java.lang.Object
  org.ode4j.cpp.internal.ApiCppTimer
      org.ode4j.cpp.internal.ApiCppCollisionTrimesh
          org.ode4j.cpp.internal.ApiCppCollisionSpace
              org.ode4j.cpp.internal.ApiCppCollision
                  org.ode4j.cpp.internal.ApiCppExportDIF
                      org.ode4j.cpp.internal.ApiCppOdeInit
                          org.ode4j.cpp.internal.ApiCppMass
                              org.ode4j.cpp.internal.ApiCppOther
                                  org.ode4j.cpp.internal.ApiCppJoint

Direct Known Subclasses:

ApiCppBody

public abstract class ApiCppJoint
extends ApiCppOther

Nested Class Summary

static class

ApiCppJoint.dJointType

Nested classes/interfaces inherited from class org.ode4j.cpp.internal.ApiCppCollision

ApiCppCollision.dAABBTestFn, ApiCppCollision.dGeomClass, ApiCppCollision.dGeomDtorFn, ApiCppCollision.dGetAABBFn, ApiCppCollision.dGetColliderFnFn

Field Summary

static int	dAMotorEuler
static int	dAMotorUser
static int	dParamBounce
static int	dParamBounce1
static int	dParamBounce2
static int	dParamBounce3
static int	dParamCFM
static int	dParamCFM1
static int	dParamCFM2
static int	dParamCFM3
static int	dParamERP
static int	dParamERP1
static int	dParamERP2
static int	dParamERP3
static int	dParamFMax
static int	dParamFMax1
static int	dParamFMax2
static int	dParamFMax3
static int	dParamFudgeFactor
static int	dParamFudgeFactor1
static int	dParamFudgeFactor2
static int	dParamFudgeFactor3
static int	dParamGroup
static int	dParamGroup1
static int	dParamGroup2
static int	dParamGroup3
static int	dParamHiStop
static int	dParamHiStop1
static int	dParamHiStop2
static int	dParamHiStop3
static int	dParamLoStop
static int	dParamLoStop1
static int	dParamLoStop2
static int	dParamLoStop3
static int	dParamStopCFM
static int	dParamStopCFM1
static int	dParamStopCFM2
static int	dParamStopCFM3
static int	dParamStopERP
static int	dParamStopERP1
static int	dParamStopERP2
static int	dParamStopERP3
static int	dParamSuspensionCFM
static int	dParamSuspensionCFM1
static int	dParamSuspensionCFM2
static int	dParamSuspensionCFM3
static int	dParamSuspensionERP
static int	dParamSuspensionERP1
static int	dParamSuspensionERP2
static int	dParamSuspensionERP3
static int	dParamVel
static int	dParamVel1
static int	dParamVel2
static int	dParamVel3

Fields inherited from class org.ode4j.cpp.internal.ApiCppCollisionSpace

dSAP_AXES_XYZ, dSAP_AXES_XZY, dSAP_AXES_YXZ, dSAP_AXES_YZX, dSAP_AXES_ZXY, dSAP_AXES_ZYX

Constructor Summary

ApiCppJoint()

Method Summary

static DJoint	dConnectingJoint(DBody b1, DBody b2)
static void	dJointAddAMotorTorques(DAMotorJoint j, double torque1, double torque2, double torque3)
static void	dJointAddHinge2Torques(DUniversalJoint joint, double torque1, double torque2)
static void	dJointAddHingeTorque(DHingeJoint joint, double torque)
static void	dJointAddPistonForce(DPistonJoint joint, double force)
static void	dJointAddPRTorque(DPRJoint j, double torque)
static void	dJointAddSliderForce(DSliderJoint joint, double force)
static void	dJointAddUniversalTorques(DUniversalJoint joint, double torque1, double torque2)
static void	dJointAttach(DJoint j, DBody body1, DBody body2)
static DAMotorJoint	dJointCreateAMotor(DWorld w, DJointGroup g)
static DBallJoint	dJointCreateBall(DWorld w, DJointGroup g)
static DContactJoint	dJointCreateContact(DWorld w, DJointGroup g, DContact c)
static DJoint.DJointFeedback	dJointCreateFeedback()
static DFixedJoint	dJointCreateFixed(DWorld w, DJointGroup g)
static DHingeJoint	dJointCreateHinge(DWorld w, DJointGroup g)
static DHinge2Joint	dJointCreateHinge2(DWorld w, DJointGroup g)
static DLMotorJoint	dJointCreateLMotor(DWorld w, DJointGroup g)
static DNullJoint	dJointCreateNull(DWorld w, DJointGroup g)
static DPistonJoint	dJointCreatePiston(DWorld w, DJointGroup g)
static DPlane2DJoint	dJointCreatePlane2D(DWorld w, DJointGroup g)
static DPRJoint	dJointCreatePR(DWorld w, DJointGroup g)
static DPUJoint	dJointCreatePU(DWorld w, DJointGroup g)
static DSliderJoint	dJointCreateSlider(DWorld w, DJointGroup g)
static DUniversalJoint	dJointCreateUniversal(DWorld w, DJointGroup g)
static void	dJointDisable(DJoint j)
static void	dJointEnable(DJoint j)
static double	dJointGetAMotorAngle(DAMotorJoint j, int anum)
static double	dJointGetAMotorAngleRate(DAMotorJoint j, int anum)
static void	dJointGetAMotorAxis(DAMotorJoint j, int anum, DVector3 result)
static int	dJointGetAMotorAxisRel(DAMotorJoint j, int anum)
static DAMotorJoint.AMotorMode	dJointGetAMotorMode(DAMotorJoint j)
static int	dJointGetAMotorNumAxes(DAMotorJoint j)
static double	dJointGetAMotorParam(DAMotorJoint j, int parameter)
static void	dJointGetBallAnchor(DBallJoint j, DVector3 result)
static void	dJointGetBallAnchor2(DBallJoint j, DVector3 result)
static double	dJointGetBallParam(DBallJoint j, int parameter)
static DBody	dJointGetBody(DJoint j, int index)
static java.lang.Object	dJointGetData(DJoint j)
static DJoint.DJointFeedback	dJointGetFeedback(DJoint j)
static double	dJointGetFixedParam(DFixedJoint j, int parameter)
static void	dJointGetHinge2Anchor(DHinge2Joint j, DVector3 result)
static void	dJointGetHinge2Anchor2(DHinge2Joint j, DVector3 result)
static double	dJointGetHinge2Angle1(DHinge2Joint j)
static double	dJointGetHinge2Angle1Rate(DHinge2Joint j)
static double	dJointGetHinge2Angle2Rate(DHinge2Joint j)
static void	dJointGetHinge2Axis1(DHinge2Joint j, DVector3 result)
static void	dJointGetHinge2Axis2(DHinge2Joint j, DVector3 result)
static double	dJointGetHinge2Param(DHinge2Joint j, int parameter)
static void	dJointGetHingeAnchor(DHingeJoint j, DVector3 result)
static void	dJointGetHingeAnchor2(DHingeJoint j, DVector3 result)
static double	dJointGetHingeAngle(DHingeJoint j)
static double	dJointGetHingeAngleRate(DHingeJoint j)
static void	dJointGetHingeAxis(DHingeJoint j, DVector3 result)
static double	dJointGetHingeParam(DHingeJoint j, int parameter)
static void	dJointGetLMotorAxis(DLMotorJoint j, int anum, DVector3 result)
static int	dJointGetLMotorNumAxes(DLMotorJoint j)
static double	dJointGetLMotorParam(DLMotorJoint j, int parameter)
static int	dJointGetNumBodies(DJoint j)
static void	dJointGetPistonAnchor(DPistonJoint j, DVector3 result)
static void	dJointGetPistonAnchor2(DPistonJoint j, DVector3 result)
static double	dJointGetPistonAngle(DPistonJoint j)
static double	dJointGetPistonAngleRate(DPistonJoint j)
static void	dJointGetPistonAxis(DPistonJoint j, DVector3 result)
static double	dJointGetPistonParam(DPistonJoint j, int parameter)
static double	dJointGetPistonPosition(DPistonJoint j)
static double	dJointGetPistonPositionRate(DPistonJoint j)
static void	dJointGetPRAnchor(DPRJoint j, DVector3 result)
static double	dJointGetPRAngle(DPRJoint j)
static double	dJointGetPRAngleRate(DPRJoint j)
static void	dJointGetPRAxis1(DPRJoint j, DVector3 result)
static void	dJointGetPRAxis2(DPRJoint j, DVector3 result)
static double	dJointGetPRParam(DPRJoint j, int d_param_names)
static double	dJointGetPRPosition(DPRJoint j)
static double	dJointGetPRPositionRate(DPRJoint j)
static void	dJointGetPUAnchor(DPUJoint j, DVector3 result)
static double	dJointGetPUAngle1(DPUJoint j)
static double	dJointGetPUAngle1Rate(DPUJoint j)
static double	dJointGetPUAngle2(DPUJoint j)
static double	dJointGetPUAngle2Rate(DPUJoint j)
static void	dJointGetPUAngles(DPUJoint joint, org.cpp4j.java.RefDouble angle1, org.cpp4j.java.RefDouble angle2)
static void	dJointGetPUAxis1(DPUJoint j, DVector3 result)
static void	dJointGetPUAxis2(DPUJoint j, DVector3 result)
static void	dJointGetPUAxis3(DPUJoint j, DVector3 result)
static void	dJointGetPUAxisP(DPUJoint j, DVector3 result)
static double	dJointGetPUParam(DPUJoint j, int parameter)
static double	dJointGetPUPosition(DPUJoint j)
static double	dJointGetPUPositionRate(DPUJoint j)
static void	dJointGetSliderAxis(DSliderJoint j, DVector3 result)
static double	dJointGetSliderParam(DSliderJoint j, int parameter)
static double	dJointGetSliderPosition(DSliderJoint j)
static double	dJointGetSliderPositionRate(DSliderJoint j)
static void	dJointGetUniversalAnchor(DUniversalJoint j, DVector3 result)
static void	dJointGetUniversalAnchor2(DUniversalJoint j, DVector3 result)
static double	dJointGetUniversalAngle1(DUniversalJoint j)
static double	dJointGetUniversalAngle1Rate(DUniversalJoint j)
static double	dJointGetUniversalAngle2(DUniversalJoint j)
static double	dJointGetUniversalAngle2Rate(DUniversalJoint j)
static void	dJointGetUniversalAngles(DUniversalJoint joint, org.cpp4j.java.RefDouble angle1, org.cpp4j.java.RefDouble angle2)
static void	dJointGetUniversalAxis1(DUniversalJoint j, DVector3 result)
static void	dJointGetUniversalAxis2(DUniversalJoint j, DVector3 result)
static double	dJointGetUniversalParam(DUniversalJoint j, int parameter)
static DJointGroup	dJointGroupCreate(int max_size)
static void	dJointGroupDestroy(DJointGroup g)
static void	dJointGroupEmpty(DJointGroup g)
static boolean	dJointIsEnabled(DJoint j)
static void	dJointSetAMotorAngle(DAMotorJoint j, int anum, double angle)
static void	dJointSetAMotorAxis(DAMotorJoint j, int anum, int rel, double x, double y, double z)
static void	dJointSetAMotorMode(DAMotorJoint j, int mode)
static void	dJointSetAMotorNumAxes(DAMotorJoint j, int num)
static void	dJointSetAMotorParam(DAMotorJoint j, int parameter, double value)
static void	dJointSetBallAnchor(DBallJoint j, double x, double y, double z)
static void	dJointSetBallAnchor2(DBallJoint j, double x, double y, double z)
static void	dJointSetBallParam(DBallJoint j, int parameter, double value)
static void	dJointSetData(DJoint j, java.lang.Object data)
static void	dJointSetFeedback(DJoint j, DJoint.DJointFeedback fb)
static void	dJointSetFixed(DFixedJoint j)
static void	dJointSetFixedParam(DFixedJoint j, int parameter, double value)
static void	dJointSetHinge2Anchor(DHinge2Joint j, double x, double y, double z)
static void	dJointSetHinge2Axis1(DHinge2Joint j, double x, double y, double z)
static void	dJointSetHinge2Axis2(DHinge2Joint j, double x, double y, double z)
static void	dJointSetHinge2Param(DHinge2Joint j, int parameter, double value)
static void	dJointSetHingeAnchor(DHingeJoint j, double x, double y, double z)
static void	dJointSetHingeAxis(DHingeJoint j, double x, double y, double z)
static void	dJointSetHingeAxisOffset(DHingeJoint j, double x, double y, double z, double angle)
static void	dJointSetHingeParam(DHingeJoint j, int parameter, double value)
static void	dJointSetLMotorAxis(DLMotorJoint j, int anum, int rel, double x, double y, double z)
static void	dJointSetLMotorNumAxes(DLMotorJoint j, int num)
static void	dJointSetLMotorParam(DLMotorJoint j, int parameter, double value)
static void	dJointSetPistonAnchor(DPistonJoint j, double x, double y, double z)
static void	dJointSetPistonAnchorOffset(DPistonJoint j, double x, double y, double z, double dx, double dy, double dz)
static void	dJointSetPistonAxis(DPistonJoint j, double x, double y, double z)
static void	dJointSetPistonParam(DPistonJoint j, int parameter, double value)
static void	dJointSetPlane2DAngleParam(DPlane2DJoint j, int parameter, double value)
static void	dJointSetPlane2DXParam(DPlane2DJoint j, int parameter, double value)
static void	dJointSetPlane2DYParam(DPlane2DJoint j, int parameter, double value)
static void	dJointSetPRAnchor(DPRJoint j, double x, double y, double z)
static void	dJointSetPRAxis1(DPRJoint j, double x, double y, double z)
static void	dJointSetPRAxis2(DPRJoint j, double x, double y, double z)
static void	dJointSetPRParam(DPRJoint j, int parameter, double value)
static void	dJointSetPUAnchor(DPUJoint j, double x, double y, double z)
static void	dJointSetPUAnchorOffset(DPUJoint j, double x, double y, double z, double dx, double dy, double dz)
static void	dJointSetPUAxis1(DPUJoint j, double x, double y, double z)
static void	dJointSetPUAxis2(DPUJoint j, double x, double y, double z)
static void	dJointSetPUAxis3(DPUJoint j, double x, double y, double z)
static void	dJointSetPUAxisP(DPUJoint j, double x, double y, double z)
static void	dJointSetPUParam(DPUJoint j, int parameter, double value)
static void	dJointSetSliderAxis(DSliderJoint j, double x, double y, double z)
static void	dJointSetSliderAxisDelta(DSliderJoint j, double x, double y, double z, double ax, double ay, double az)
static void	dJointSetSliderParam(DSliderJoint j, int parameter, double value)
static void	dJointSetUniversalAnchor(DUniversalJoint j, double x, double y, double z)
static void	dJointSetUniversalAxis1(DUniversalJoint j, double x, double y, double z)
static void	dJointSetUniversalAxis1Offset(DUniversalJoint j, double x, double y, double z, double offset1, double offset2)
static void	dJointSetUniversalAxis2(DUniversalJoint j, double x, double y, double z)
static void	dJointSetUniversalAxis2Offset(DUniversalJoint j, double x, double y, double z, double offset1, double offset2)
static void	dJointSetUniversalParam(DUniversalJoint j, int parameter, double value)

Methods inherited from class org.ode4j.cpp.internal.ApiCppOther

dAreConnected, dAreConnectedExcluding, dConnectingJointList

Methods inherited from class org.ode4j.cpp.internal.ApiCppMass

dMassAdd, dMassAdjust, dMassCheck, dMassCreate, dMassRotate, dMassSetBox, dMassSetBoxTotal, dMassSetCapsule, dMassSetCapsuleTotal, dMassSetCylinder, dMassSetCylinderTotal, dMassSetParameters, dMassSetSphere, dMassSetSphereTotal, dMassSetTrimesh, dMassSetTrimeshTotal, dMassSetZero, dMassTranslate

Methods inherited from class org.ode4j.cpp.internal.ApiCppOdeInit

dAllocateODEDataForThread, dCloseODE, dInitODE, dInitODE2

Methods inherited from class org.ode4j.cpp.internal.ApiCppExportDIF

dWorldExportDIF

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollision

dBoxBox, dBoxTouchesBox, dCollide, dCreateBox, dCreateCapsule, dCreateConvex, dCreateCylinder, dCreateGeomTransform, dCreateHeightfield, dCreatePlane, dCreateRay, dCreateSphere, dGeomBoxGetLengths, dGeomBoxPointDepth, dGeomBoxSetLengths, dGeomCapsuleGetParams, dGeomCapsulePointDepth, dGeomCapsuleSetParams, dGeomClearOffset, dGeomCopyOffsetPosition, dGeomCopyOffsetRotation, dGeomCopyPosition, dGeomCopyRotation, dGeomCylinderGetParams, dGeomCylinderSetParams, dGeomDestroy, dGeomDisable, dGeomEnable, dGeomGetAABB, dGeomGetBody, dGeomGetCategoryBits, dGeomGetClass, dGeomGetCollideBits, dGeomGetData, dGeomGetOffsetPosition, dGeomGetOffsetQuaternion, dGeomGetOffsetRotation, dGeomGetPosition, dGeomGetQuaternion, dGeomGetRotation, dGeomGetSpace, dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataCreate, dGeomHeightfieldDataDestroy, dGeomHeightfieldDataSetBounds, dGeomHeightfieldGetHeightfieldData, dGeomHeightfieldSetHeightfieldData, dGeomIsEnabled, dGeomIsOffset, dGeomIsSpace, dGeomPlaneGetParams, dGeomPlanePointDepth, dGeomPlaneSetParams, dGeomRayGet, dGeomRayGetClosestHit, dGeomRayGetLength, dGeomRayGetParams, dGeomRaySet, dGeomRaySetClosestHit, dGeomRaySetLength, dGeomRaySetParams, dGeomSetBody, dGeomSetCategoryBits, dGeomSetCollideBits, dGeomSetConvex, dGeomSetData, dGeomSetOffsetPosition, dGeomSetOffsetQuaternion, dGeomSetOffsetRotation, dGeomSetOffsetWorldPosition, dGeomSetOffsetWorldQuaternion, dGeomSetOffsetWorldRotation, dGeomSetPosition, dGeomSetQuaternion, dGeomSetRotation, dGeomSphereGetRadius, dGeomSpherePointDepth, dGeomSphereSetRadius, dGeomTransformGetGeom, dGeomTransformSetCleanup, dGeomTransformSetGeom, dSetColliderOverride, dSpaceCollide, dSpaceCollide2

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionSpace

dHashSpaceCreate, dHashSpaceGetLevels, dHashSpaceSetLevels, dQuadTreeSpaceCreate, dSimpleSpaceCreate, dSpaceAdd, dSpaceClean, dSpaceDestroy, dSpaceGetCleanup, dSpaceGetGeom, dSpaceGetManualCleanup, dSpaceGetNumGeoms, dSpaceGetSublevel, dSpaceQuery, dSpaceRemove, dSpaceSetCleanup, dSpaceSetManualCleanup, dSpaceSetSublevel, dSweepAndPruneSpaceCreate

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionTrimesh

dCreateTriMesh, dGeomTriMeshDataBuildSingle, dGeomTriMeshDataCreate, dGeomTriMeshDataDestroy, dGeomTriMeshSetLastTransform

Methods inherited from class org.ode4j.cpp.internal.ApiCppTimer

dTimerEnd, dTimerNow, dTimerReport, dTimerStart

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

dParamGroup

public static final int dParamGroup

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Constant Field Values

dParamLoStop

public static final int dParamLoStop

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Constant Field Values

dParamHiStop

public static final int dParamHiStop

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Constant Field Values

dParamVel

public static final int dParamVel

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Constant Field Values

dParamFMax

public static final int dParamFMax

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Constant Field Values

dParamFudgeFactor

public static final int dParamFudgeFactor

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Constant Field Values

dParamBounce

public static final int dParamBounce

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Constant Field Values

dParamCFM

public static final int dParamCFM

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Constant Field Values

dParamStopERP

public static final int dParamStopERP

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Constant Field Values

dParamStopCFM

public static final int dParamStopCFM

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Constant Field Values

dParamSuspensionERP

public static final int dParamSuspensionERP

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Constant Field Values

dParamSuspensionCFM

public static final int dParamSuspensionCFM

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Constant Field Values

dParamERP

public static final int dParamERP

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Constant Field Values

dParamGroup1

public static final int dParamGroup1

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Constant Field Values

dParamLoStop1

public static final int dParamLoStop1

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Constant Field Values

dParamHiStop1

public static final int dParamHiStop1

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Constant Field Values

dParamVel1

public static final int dParamVel1

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Constant Field Values

dParamFMax1

public static final int dParamFMax1

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Constant Field Values

dParamFudgeFactor1

public static final int dParamFudgeFactor1

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Constant Field Values

dParamBounce1

public static final int dParamBounce1

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Constant Field Values

dParamCFM1

public static final int dParamCFM1

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Constant Field Values

dParamStopERP1

public static final int dParamStopERP1

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Constant Field Values

dParamStopCFM1

public static final int dParamStopCFM1

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Constant Field Values

dParamSuspensionERP1

public static final int dParamSuspensionERP1

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Constant Field Values

dParamSuspensionCFM1

public static final int dParamSuspensionCFM1

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dParamERP1

public static final int dParamERP1

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dParamGroup2

public static final int dParamGroup2

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Constant Field Values

dParamLoStop2

public static final int dParamLoStop2

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dParamHiStop2

public static final int dParamHiStop2

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Constant Field Values

dParamVel2

public static final int dParamVel2

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dParamFMax2

public static final int dParamFMax2

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dParamFudgeFactor2

public static final int dParamFudgeFactor2

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dParamBounce2

public static final int dParamBounce2

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dParamCFM2

public static final int dParamCFM2

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dParamStopERP2

public static final int dParamStopERP2

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dParamStopCFM2

public static final int dParamStopCFM2

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dParamSuspensionERP2

public static final int dParamSuspensionERP2

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dParamSuspensionCFM2

public static final int dParamSuspensionCFM2

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Constant Field Values

dParamERP2

public static final int dParamERP2

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Constant Field Values

dParamGroup3

public static final int dParamGroup3

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Constant Field Values

dParamLoStop3

public static final int dParamLoStop3

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Constant Field Values

dParamHiStop3

public static final int dParamHiStop3

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Constant Field Values

dParamVel3

public static final int dParamVel3

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Constant Field Values

dParamFMax3

public static final int dParamFMax3

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Constant Field Values

dParamFudgeFactor3

public static final int dParamFudgeFactor3

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dParamBounce3

public static final int dParamBounce3

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Constant Field Values

dParamCFM3

public static final int dParamCFM3

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Constant Field Values

dParamStopERP3

public static final int dParamStopERP3

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Constant Field Values

dParamStopCFM3

public static final int dParamStopCFM3

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Constant Field Values

dParamSuspensionERP3

public static final int dParamSuspensionERP3

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Constant Field Values

dParamSuspensionCFM3

public static final int dParamSuspensionCFM3

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Constant Field Values

dParamERP3

public static final int dParamERP3

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Constant Field Values

dAMotorUser

public static final int dAMotorUser

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Constant Field Values

dAMotorEuler

public static final int dAMotorEuler

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Constant Field Values

Constructor Detail

ApiCppJoint

public ApiCppJoint()

Method Detail

dJointCreateBall

public static DBallJoint dJointCreateBall(DWorld w,
                                          DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the ball type.

Remark:

The joint is initially in "limbo" (i.e. it has no effect on the simulation) because it does not connect to any bodies.

dJointCreateHinge

public static DHingeJoint dJointCreateHinge(DWorld w,
                                            DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the hinge type.

dJointCreateSlider

public static DSliderJoint dJointCreateSlider(DWorld w,
                                              DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the slider type.

dJointCreateContact

public static DContactJoint dJointCreateContact(DWorld w,
                                                DJointGroup g,
                                                DContact c)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the contact type.

dJointCreateFeedback

public static DJoint.DJointFeedback dJointCreateFeedback()

Brief:

Create a new joint feedback.

dJointCreateHinge2

public static DHinge2Joint dJointCreateHinge2(DWorld w,
                                              DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the hinge2 type.

dJointCreateUniversal

public static DUniversalJoint dJointCreateUniversal(DWorld w,
                                                    DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the universal type.

dJointCreatePR

public static DPRJoint dJointCreatePR(DWorld w,
                                      DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the PR (Prismatic and Rotoide) type.

dJointCreatePU

public static DPUJoint dJointCreatePU(DWorld w,
                                      DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the PU (Prismatic and Universal) type.

dJointCreatePiston

public static DPistonJoint dJointCreatePiston(DWorld w,
                                              DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the Piston type.

dJointCreateFixed

public static DFixedJoint dJointCreateFixed(DWorld w,
                                            DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the fixed type.

dJointCreateNull

public static DNullJoint dJointCreateNull(DWorld w,
                                          DJointGroup g)

dJointCreateAMotor

public static DAMotorJoint dJointCreateAMotor(DWorld w,
                                              DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the A-motor type.

dJointCreateLMotor

public static DLMotorJoint dJointCreateLMotor(DWorld w,
                                              DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the L-motor type.

dJointCreatePlane2D

public static DPlane2DJoint dJointCreatePlane2D(DWorld w,
                                                DJointGroup g)

Parameters:

g - set to null to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

Brief:

Create a new joint of the plane-2d type.

dJointGroupCreate

public static DJointGroup dJointGroupCreate(int max_size)

Parameters:

max_size - deprecated. Set to 0.

Brief:

Create a joint group

dJointGroupDestroy

public static void dJointGroupDestroy(DJointGroup g)

Brief:

Destroy a joint group.

dJointGroupEmpty

public static void dJointGroupEmpty(DJointGroup g)

Brief:

Empty a joint group.

dJointGetNumBodies

public static int dJointGetNumBodies(DJoint j)

Brief:

Return the number of bodies attached to the joint

dJointAttach

public static void dJointAttach(DJoint j,
                                DBody body1,
                                DBody body2)

Brief:

Attach the joint to some new bodies.

Remark:

Some joints, like hinge-2 need to be attached to two bodies to work.

dJointEnable

public static void dJointEnable(DJoint j)

Parameters:

j - identification of joint.

Brief:

Manually enable a joint.

dJointDisable

public static void dJointDisable(DJoint j)

Brief:

Manually disable a joint.

Remark:

A disabled joint will not affect the simulation, but will maintain the anchors and axes so it can be enabled later.

dJointIsEnabled

public static boolean dJointIsEnabled(DJoint j)

Returns:

1 if a joint is currently enabled or 0 if it is disabled.

Brief:

Check wether a joint is enabled.

dJointSetData

public static void dJointSetData(DJoint j,
                                 java.lang.Object data)

Brief:

Set the user-data pointer

dJointGetData

public static java.lang.Object dJointGetData(DJoint j)

Brief:

Get the user-data pointer

dJointGetBody

public static DBody dJointGetBody(DJoint j,
                                  int index)

Parameters:

index - return the first (0) or second (1) body.

Brief:

Return the bodies that this joint connects.

Remark:

If one of these returned body IDs is zero, the joint connects the other body to the static environment. If both body IDs are zero, the joint is in ``limbo'' and has no effect on the simulation.

dJointSetFeedback

public static void dJointSetFeedback(DJoint j,
                                     DJoint.DJointFeedback fb)

Brief:

Sets the datastructure that is to receive the feedback. The feedback can be used by the user, so that it is known how much force an individual joint exerts.

dJointGetFeedback

public static DJoint.DJointFeedback dJointGetFeedback(DJoint j)

Brief:

Gets the datastructure that is to receive the feedback.

dJointSetBallAnchor

public static void dJointSetBallAnchor(DBallJoint j,
                                       double x,
                                       double y,
                                       double z)

Brief:

Set the joint anchor point.

dJointSetBallAnchor2

public static void dJointSetBallAnchor2(DBallJoint j,
                                        double x,
                                        double y,
                                        double z)

Brief:

Set the joint anchor point.

dJointSetBallParam

public static void dJointSetBallParam(DBallJoint j,
                                      int parameter,
                                      double value)

Brief:

Param setting for Ball joints

dJointSetHingeAnchor

public static void dJointSetHingeAnchor(DHingeJoint j,
                                        double x,
                                        double y,
                                        double z)

Brief:

Set hinge anchor parameter.

dJointSetHingeAxis

public static void dJointSetHingeAxis(DHingeJoint j,
                                      double x,
                                      double y,
                                      double z)

Brief:

Set hinge axis.

dJointSetHingeAxisOffset

public static void dJointSetHingeAxisOffset(DHingeJoint j,
                                            double x,
                                            double y,
                                            double z,
                                            double angle)

Parameters:

j - The Hinge joint ID for which the axis will be set

x - The X component of the axis in world frame

y - The Y component of the axis in world frame

z - The Z component of the axis in world frame

angle - The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.

Brief:

Set the Hinge axis as if the 2 bodies were already at angle appart.

Note:

Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where \b angle appart.

Warning:

Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" angle position.

dJointSetHingeParam

public static void dJointSetHingeParam(DHingeJoint j,
                                       int parameter,
                                       double value)

Brief:

set joint parameter

dJointAddHingeTorque

public static void dJointAddHingeTorque(DHingeJoint joint,
                                        double torque)

Brief:

Applies the torque about the hinge axis. That is, it applies a torque with specified magnitude in the direction of the hinge axis, to body 1, and with the same magnitude but in opposite direction to body 2. This function is just a wrapper for dBodyAddTorque()}

dJointSetSliderAxis

public static void dJointSetSliderAxis(DSliderJoint j,
                                       double x,
                                       double y,
                                       double z)

Brief:

set the joint axis

dJointSetSliderAxisDelta

public static void dJointSetSliderAxisDelta(DSliderJoint j,
                                            double x,
                                            double y,
                                            double z,
                                            double ax,
                                            double ay,
                                            double az)

dJointSetSliderParam

public static void dJointSetSliderParam(DSliderJoint j,
                                        int parameter,
                                        double value)

Brief:

set joint parameter

dJointAddSliderForce

public static void dJointAddSliderForce(DSliderJoint joint,
                                        double force)

Brief:

Applies the given force in the slider's direction. That is, it applies a force with specified magnitude, in the direction of slider's axis, to body1, and with the same magnitude but opposite direction to body2. This function is just a wrapper for dBodyAddForce().

dJointSetHinge2Anchor

public static void dJointSetHinge2Anchor(DHinge2Joint j,
                                         double x,
                                         double y,
                                         double z)

Brief:

set anchor

dJointSetHinge2Axis1

public static void dJointSetHinge2Axis1(DHinge2Joint j,
                                        double x,
                                        double y,
                                        double z)

Brief:

set axis

dJointSetHinge2Axis2

public static void dJointSetHinge2Axis2(DHinge2Joint j,
                                        double x,
                                        double y,
                                        double z)

Brief:

set axis

dJointSetHinge2Param

public static void dJointSetHinge2Param(DHinge2Joint j,
                                        int parameter,
                                        double value)

Brief:

set joint parameter

dJointAddHinge2Torques

public static void dJointAddHinge2Torques(DUniversalJoint joint,
                                          double torque1,
                                          double torque2)

Brief:

Applies torque1 about the hinge2's axis 1, torque2 about the hinge2's axis 2.

Remark:

This function is just a wrapper for dBodyAddTorque().

dJointSetUniversalAnchor

public static void dJointSetUniversalAnchor(DUniversalJoint j,
                                            double x,
                                            double y,
                                            double z)

Brief:

set anchor

dJointSetUniversalAxis1

public static void dJointSetUniversalAxis1(DUniversalJoint j,
                                           double x,
                                           double y,
                                           double z)

Brief:

set axis

dJointSetUniversalAxis1Offset

public static void dJointSetUniversalAxis1Offset(DUniversalJoint j,
                                                 double x,
                                                 double y,
                                                 double z,
                                                 double offset1,
                                                 double offset2)

Parameters:

j - The Hinge joint ID for which the axis will be set

x - The X component of the axis in world frame

y - The Y component of the axis in world frame

z - The Z component of the axis in world frame

angle - The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.

Brief:

Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.

Note:

Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where \b offsets appart., Any previous offsets are erased.

Warning:

Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset will reset the "zero" angle position.

dJointSetUniversalAxis2

public static void dJointSetUniversalAxis2(DUniversalJoint j,
                                           double x,
                                           double y,
                                           double z)

Brief:

set axis

dJointSetUniversalAxis2Offset

public static void dJointSetUniversalAxis2Offset(DUniversalJoint j,
                                                 double x,
                                                 double y,
                                                 double z,
                                                 double offset1,
                                                 double offset2)

Parameters:

j - The Hinge joint ID for which the axis will be set

x - The X component of the axis in world frame

y - The Y component of the axis in world frame

z - The Z component of the axis in world frame

angle - The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.

Brief:

Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.

Note:

Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where \b offsets appart., Any previous offsets are erased.

Warning:

Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset will reset the "zero" angle position.

dJointSetUniversalParam

public static void dJointSetUniversalParam(DUniversalJoint j,
                                           int parameter,
                                           double value)

Brief:

set joint parameter

dJointAddUniversalTorques

public static void dJointAddUniversalTorques(DUniversalJoint joint,
                                             double torque1,
                                             double torque2)

Brief:

Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2.

Remark:

This function is just a wrapper for dBodyAddTorque().

dJointSetPRAnchor

public static void dJointSetPRAnchor(DPRJoint j,
                                     double x,
                                     double y,
                                     double z)

Brief:

set anchor

dJointSetPRAxis1

public static void dJointSetPRAxis1(DPRJoint j,
                                    double x,
                                    double y,
                                    double z)

Brief:

set the axis for the prismatic articulation

dJointSetPRAxis2

public static void dJointSetPRAxis2(DPRJoint j,
                                    double x,
                                    double y,
                                    double z)

Brief:

set the axis for the rotoide articulation

dJointSetPRParam

public static void dJointSetPRParam(DPRJoint j,
                                    int parameter,
                                    double value)

Brief:

set joint parameter

Note:

parameterX where X equal 2 refer to parameter for the rotoide articulation

dJointAddPRTorque

public static void dJointAddPRTorque(DPRJoint j,
                                     double torque)

Brief:

Applies the torque about the rotoide axis of the PR joint That is, it applies a torque with specified magnitude in the direction of the rotoide axis, to body 1, and with the same magnitude but in opposite direction to body 2. This function is just a wrapper for dBodyAddTorque()}

dJointSetPUAnchor

public static void dJointSetPUAnchor(DPUJoint j,
                                     double x,
                                     double y,
                                     double z)

Brief:

set anchor

dJointSetPUAnchorOffset

public static void dJointSetPUAnchorOffset(DPUJoint j,
                                           double x,
                                           double y,
                                           double z,
                                           double dx,
                                           double dy,
                                           double dz)

Parameters:

j - The PU joint for which the anchor point will be set

x - The X position of the anchor point in world frame

y - The Y position of the anchor point in world frame

z - The Z position of the anchor point in world frame

dx - A delta to be substracted to the X position as if the anchor was set when body1 was at current_position[X] - dx

dy - A delta to be substracted to the Y position as if the anchor was set when body1 was at current_position[Y] - dy

dz - A delta to be substracted to the Z position as if the anchor was set when body1 was at current_position[Z] - dz

Brief:

Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.

dJointSetPUAxis1

public static void dJointSetPUAxis1(DPUJoint j,
                                    double x,
                                    double y,
                                    double z)

Brief:

set the axis for the first axis or the universal articulation

dJointSetPUAxis2

public static void dJointSetPUAxis2(DPUJoint j,
                                    double x,
                                    double y,
                                    double z)

Brief:

set the axis for the second axis or the universal articulation

dJointSetPUAxis3

public static void dJointSetPUAxis3(DPUJoint j,
                                    double x,
                                    double y,
                                    double z)

Brief:

set the axis for the prismatic articulation

dJointSetPUAxisP

public static void dJointSetPUAxisP(DPUJoint j,
                                    double x,
                                    double y,
                                    double z)

Brief:

set the axis for the prismatic articulation

Note:

This function was added for convenience it is the same as dJointSetPUAxis3

dJointSetPUParam

public static void dJointSetPUParam(DPUJoint j,
                                    int parameter,
                                    double value)

Brief:

set joint parameter

Note:

parameterX where X equal 2 refer to parameter for second axis of the universal articulation, parameterX where X equal 3 refer to parameter for prismatic articulation

dJointSetPistonAnchor

public static void dJointSetPistonAnchor(DPistonJoint j,
                                         double x,
                                         double y,
                                         double z)

Brief:

set the joint anchor

dJointSetPistonAnchorOffset

public static void dJointSetPistonAnchorOffset(DPistonJoint j,
                                               double x,
                                               double y,
                                               double z,
                                               double dx,
                                               double dy,
                                               double dz)

Parameters:

j - The Piston joint for which the anchor point will be set

x - The X position of the anchor point in world frame

y - The Y position of the anchor point in world frame

z - The Z position of the anchor point in world frame

dx - A delta to be substracted to the X position as if the anchor was set when body1 was at current_position[X] - dx

dy - A delta to be substracted to the Y position as if the anchor was set when body1 was at current_position[Y] - dy

dz - A delta to be substracted to the Z position as if the anchor was set when body1 was at current_position[Z] - dz

Brief:

Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.

dJointSetPistonAxis

public static void dJointSetPistonAxis(DPistonJoint j,
                                       double x,
                                       double y,
                                       double z)

Brief:

set the joint axis

dJointSetPistonParam

public static void dJointSetPistonParam(DPistonJoint j,
                                        int parameter,
                                        double value)

Brief:

set joint parameter

dJointAddPistonForce

public static void dJointAddPistonForce(DPistonJoint joint,
                                        double force)

Brief:

Applies the given force in the slider's direction. That is, it applies a force with specified magnitude, in the direction of prismatic's axis, to body1, and with the same magnitude but opposite direction to body2. This function is just a wrapper for dBodyAddForce().

dJointSetFixed

public static void dJointSetFixed(DFixedJoint j)

Brief:

Call this on the fixed joint after it has been attached to remember the current desired relative offset and desired relative rotation between the bodies.

dJointSetFixedParam

public static void dJointSetFixedParam(DFixedJoint j,
                                       int parameter,
                                       double value)

Brief:

Sets joint parameter

dJointSetAMotorNumAxes

public static void dJointSetAMotorNumAxes(DAMotorJoint j,
                                          int num)

Parameters:

num - 0..3

Brief:

set the nr of axes

dJointSetAMotorAxis

public static void dJointSetAMotorAxis(DAMotorJoint j,
                                       int anum,
                                       int rel,
                                       double x,
                                       double y,
                                       double z)

Brief:

set axis

dJointSetAMotorAngle

public static void dJointSetAMotorAngle(DAMotorJoint j,
                                        int anum,
                                        double angle)

Brief:

Tell the AMotor what the current angle is along axis anum. This function should only be called in dAMotorUser mode, because in this mode the AMotor has no other way of knowing the joint angles. The angle information is needed if stops have been set along the axis, but it is not needed for axis motors.

dJointSetAMotorParam

public static void dJointSetAMotorParam(DAMotorJoint j,
                                        int parameter,
                                        double value)

Brief:

set joint parameter

dJointSetAMotorMode

public static void dJointSetAMotorMode(DAMotorJoint j,
                                       int mode)

Brief:

set mode

dJointAddAMotorTorques

public static void dJointAddAMotorTorques(DAMotorJoint j,
                                          double torque1,
                                          double torque2,
                                          double torque3)

Brief:

Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2.

Remark:

If the motor has fewer than three axes, the higher torques are ignored. This function is just a wrapper for dBodyAddTorque().

dJointSetLMotorNumAxes

public static void dJointSetLMotorNumAxes(DLMotorJoint j,
                                          int num)

Parameters:

num - can range from 0 (which effectively deactivates the joint) to 3.

Brief:

Set the number of axes that will be controlled by the LMotor.

dJointSetLMotorAxis

public static void dJointSetLMotorAxis(DLMotorJoint j,
                                       int anum,
                                       int rel,
                                       double x,
                                       double y,
                                       double z)

Parameters:

anum - selects the axis to change (0,1 or 2).

rel - Each axis can have one of three ``relative orientation'' modes

0: The axis is anchored to the global frame.

1: The axis is anchored to the first body.

2: The axis is anchored to the second body.

Brief:

Set the AMotor axes.

Remark:

The axis vector is always specified in global coordinates regardless of the setting of rel.

dJointSetLMotorParam

public static void dJointSetLMotorParam(DLMotorJoint j,
                                        int parameter,
                                        double value)

Brief:

set joint parameter

dJointSetPlane2DXParam

public static void dJointSetPlane2DXParam(DPlane2DJoint j,
                                          int parameter,
                                          double value)

dJointSetPlane2DYParam

public static void dJointSetPlane2DYParam(DPlane2DJoint j,
                                          int parameter,
                                          double value)

dJointSetPlane2DAngleParam

public static void dJointSetPlane2DAngleParam(DPlane2DJoint j,
                                              int parameter,
                                              double value)

dJointGetBallAnchor

public static void dJointGetBallAnchor(DBallJoint j,
                                       DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. This returns the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dJointGetBallAnchor2

public static void dJointGetBallAnchor2(DBallJoint j,
                                        DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. This returns the point on body 2. You can think of a ball and socket joint as trying to keep the result of dJointGetBallAnchor() and dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, this function will return the same value as dJointGetBallAnchor() to within roundoff errors. dJointGetBallAnchor2() can be used, along with dJointGetBallAnchor(), to see how far the joint has come apart.

dJointGetBallParam

public static double dJointGetBallParam(DBallJoint j,
                                        int parameter)

Brief:

get joint parameter

dJointGetHingeAnchor

public static void dJointGetHingeAnchor(DHingeJoint j,
                                        DVector3 result)

Brief:

Get the hinge anchor point, in world coordinates. This returns the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dJointGetHingeAnchor2

public static void dJointGetHingeAnchor2(DHingeJoint j,
                                         DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. Returns the point on body 2. If the joint is perfectly satisfied, this will return the same value as dJointGetHingeAnchor(). If not, this value will be slightly different. This can be used, for example, to see how far the joint has come apart.

dJointGetHingeAxis

public static void dJointGetHingeAxis(DHingeJoint j,
                                      DVector3 result)

Brief:

get axis

dJointGetHingeParam

public static double dJointGetHingeParam(DHingeJoint j,
                                         int parameter)

Brief:

get joint parameter

dJointGetHingeAngle

public static double dJointGetHingeAngle(DHingeJoint j)

Brief:

Get the hinge angle. The angle is measured between the two bodies, or between the body and the static environment. The angle will be between -pi..pi. Give the relative rotation with respect to the Hinge axis of Body 1 with respect to Body 2. When the hinge anchor or axis is set, the current position of the attached bodies is examined and that position will be the zero angle.

dJointGetHingeAngleRate

public static double dJointGetHingeAngleRate(DHingeJoint j)

Brief:

Get the hinge angle time derivative.

dJointGetSliderPosition

public static double dJointGetSliderPosition(DSliderJoint j)

Brief:

Get the slider linear position (i.e. the slider's extension) When the axis is set, the current position of the attached bodies is examined and that position will be the zero position. The position is the distance, with respect to the zero position, along the slider axis of body 1 with respect to body 2. (A NULL body is replaced by the world).

dJointGetSliderPositionRate

public static double dJointGetSliderPositionRate(DSliderJoint j)

Brief:

Get the slider linear position's time derivative.

dJointGetSliderAxis

public static void dJointGetSliderAxis(DSliderJoint j,
                                       DVector3 result)

Brief:

Get the slider axis

dJointGetSliderParam

public static double dJointGetSliderParam(DSliderJoint j,
                                          int parameter)

Brief:

get joint parameter

dJointGetHinge2Anchor

public static void dJointGetHinge2Anchor(DHinge2Joint j,
                                         DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. Return the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dJointGetHinge2Anchor2

public static void dJointGetHinge2Anchor2(DHinge2Joint j,
                                          DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. This returns the point on body 2. If the joint is perfectly satisfied, this will return the same value as dJointGetHinge2Anchor. If not, this value will be slightly different. This can be used, for example, to see how far the joint has come apart.

dJointGetHinge2Axis1

public static void dJointGetHinge2Axis1(DHinge2Joint j,
                                        DVector3 result)

Brief:

Get joint axis

dJointGetHinge2Axis2

public static void dJointGetHinge2Axis2(DHinge2Joint j,
                                        DVector3 result)

Brief:

Get joint axis

dJointGetHinge2Param

public static double dJointGetHinge2Param(DHinge2Joint j,
                                          int parameter)

Brief:

get joint parameter

dJointGetHinge2Angle1

public static double dJointGetHinge2Angle1(DHinge2Joint j)

Brief:

Get angle

dJointGetHinge2Angle1Rate

public static double dJointGetHinge2Angle1Rate(DHinge2Joint j)

Brief:

Get time derivative of angle

dJointGetHinge2Angle2Rate

public static double dJointGetHinge2Angle2Rate(DHinge2Joint j)

Brief:

Get time derivative of angle

dJointGetUniversalAnchor

public static void dJointGetUniversalAnchor(DUniversalJoint j,
                                            DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. Return the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dJointGetUniversalAnchor2

public static void dJointGetUniversalAnchor2(DUniversalJoint j,
                                             DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. Return the point on body 2.

Remark:

You can think of the ball and socket part of a universal joint as trying to keep the result of dJointGetBallAnchor() and dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, this function will return the same value as dJointGetUniversalAnchor() to within roundoff errors. dJointGetUniversalAnchor2() can be used, along with dJointGetUniversalAnchor(), to see how far the joint has come apart.

dJointGetUniversalAxis1

public static void dJointGetUniversalAxis1(DUniversalJoint j,
                                           DVector3 result)

Brief:

Get axis

dJointGetUniversalAxis2

public static void dJointGetUniversalAxis2(DUniversalJoint j,
                                           DVector3 result)

Brief:

Get axis

dJointGetUniversalParam

public static double dJointGetUniversalParam(DUniversalJoint j,
                                             int parameter)

Brief:

get joint parameter

dJointGetUniversalAngles

public static void dJointGetUniversalAngles(DUniversalJoint joint,
                                            org.cpp4j.java.RefDouble angle1,
                                            org.cpp4j.java.RefDouble angle2)

Parameters:

joint - The universal joint for which we want to calculate the angles

angle1 - The angle between the body1 and the axis 1

angle2 - The angle between the body2 and the axis 2

Brief:

Get both angles at the same time.

Note:

This function combine getUniversalAngle1 and getUniversalAngle2 together and try to avoid redundant calculation

dJointGetUniversalAngle1

public static double dJointGetUniversalAngle1(DUniversalJoint j)

Brief:

Get angle

dJointGetUniversalAngle2

public static double dJointGetUniversalAngle2(DUniversalJoint j)

Brief:

Get angle

dJointGetUniversalAngle1Rate

public static double dJointGetUniversalAngle1Rate(DUniversalJoint j)

Brief:

Get time derivative of angle

dJointGetUniversalAngle2Rate

public static double dJointGetUniversalAngle2Rate(DUniversalJoint j)

Brief:

Get time derivative of angle

dJointGetPRAnchor

public static void dJointGetPRAnchor(DPRJoint j,
                                     DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. Return the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dJointGetPRPosition

public static double dJointGetPRPosition(DPRJoint j)

Brief:

Get the PR linear position (i.e. the prismatic's extension). When the axis is set, the current position of the attached bodies is examined and that position will be the zero position. The position is the "oriented" length between the position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]

dJointGetPRPositionRate

public static double dJointGetPRPositionRate(DPRJoint j)

Brief:

Get the PR linear position's time derivative.

dJointGetPRAngle

public static double dJointGetPRAngle(DPRJoint j)

Brief:

Get the PR angular position (i.e. the twist between the 2 bodies) When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

dJointGetPRAngleRate

public static double dJointGetPRAngleRate(DPRJoint j)

Brief:

Get the PR angular position's time derivative

dJointGetPRAxis1

public static void dJointGetPRAxis1(DPRJoint j,
                                    DVector3 result)

Brief:

Get the prismatic axis

dJointGetPRAxis2

public static void dJointGetPRAxis2(DPRJoint j,
                                    DVector3 result)

Brief:

Get the Rotoide axis

dJointGetPRParam

public static double dJointGetPRParam(DPRJoint j,
                                      int d_param_names)

Brief:

get joint parameter

dJointGetPUAnchor

public static void dJointGetPUAnchor(DPUJoint j,
                                     DVector3 result)

Brief:

Get the joint anchor point, in world coordinates. Return the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dJointGetPUPosition

public static double dJointGetPUPosition(DPUJoint j)

Brief:

Get the PU linear position (i.e. the prismatic's extension) When the axis is set, the current position of the attached bodies is examined and that position will be the zero position. The position is the "oriented" length between the position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]

dJointGetPUPositionRate

public static double dJointGetPUPositionRate(DPUJoint j)

Brief:

Get the PR linear position's time derivative

dJointGetPUAxis1

public static void dJointGetPUAxis1(DPUJoint j,
                                    DVector3 result)

Brief:

Get the first axis of the universal component of the joint

dJointGetPUAxis2

public static void dJointGetPUAxis2(DPUJoint j,
                                    DVector3 result)

Brief:

Get the second axis of the Universal component of the joint

dJointGetPUAxis3

public static void dJointGetPUAxis3(DPUJoint j,
                                    DVector3 result)

Brief:

Get the prismatic axis

dJointGetPUAxisP

public static void dJointGetPUAxisP(DPUJoint j,
                                    DVector3 result)

Brief:

Get the prismatic axis

Note:

This function was added for convenience it is the same as dJointGetPUAxis3

dJointGetPUAngles

public static void dJointGetPUAngles(DPUJoint joint,
                                     org.cpp4j.java.RefDouble angle1,
                                     org.cpp4j.java.RefDouble angle2)

Parameters:

joint - The Prismatic universal joint for which we want to calculate the angles

angle1 - The angle between the body1 and the axis 1

angle2 - The angle between the body2 and the axis 2

Brief:

Get both angles at the same time.

Note:

This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together and try to avoid redundant calculation

dJointGetPUAngle1

public static double dJointGetPUAngle1(DPUJoint j)

Brief:

Get angle

dJointGetPUAngle1Rate

public static double dJointGetPUAngle1Rate(DPUJoint j)

Brief:

* @brief Get time derivative of angle1

dJointGetPUAngle2

public static double dJointGetPUAngle2(DPUJoint j)

Brief:

Get angle

dJointGetPUAngle2Rate

public static double dJointGetPUAngle2Rate(DPUJoint j)

Brief:

* @brief Get time derivative of angle2

dJointGetPUParam

public static double dJointGetPUParam(DPUJoint j,
                                      int parameter)

Brief:

get joint parameter

dJointGetPistonPosition

public static double dJointGetPistonPosition(DPistonJoint j)

Brief:

Get the Piston linear position (i.e. the piston's extension) When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

dJointGetPistonPositionRate

public static double dJointGetPistonPositionRate(DPistonJoint j)

Brief:

Get the piston linear position's time derivative.

dJointGetPistonAngle

public static double dJointGetPistonAngle(DPistonJoint j)

Brief:

Get the Piston angular position (i.e. the twist between the 2 bodies) When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

dJointGetPistonAngleRate

public static double dJointGetPistonAngleRate(DPistonJoint j)

Brief:

Get the piston angular position's time derivative.

dJointGetPistonAnchor

public static void dJointGetPistonAnchor(DPistonJoint j,
                                         DVector3 result)

Brief:

Get the joint anchor This returns the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2 in direction perpendicular to the prismatic axis.

dJointGetPistonAnchor2

public static void dJointGetPistonAnchor2(DPistonJoint j,
                                          DVector3 result)

Brief:

Get the joint anchor w.r.t. body 2 This returns the point on body 2. You can think of a Piston joint as trying to keep the result of dJointGetPistonAnchor() and dJointGetPistonAnchor2() the same in the direction perpendicular to the pirsmatic axis. If the joint is perfectly satisfied, this function will return the same value as dJointGetPistonAnchor() to within roundoff errors. dJointGetPistonAnchor2() can be used, along with dJointGetPistonAnchor(), to see how far the joint has come apart.

dJointGetPistonAxis

public static void dJointGetPistonAxis(DPistonJoint j,
                                       DVector3 result)

Brief:

Get the prismatic axis (This is also the rotoide axis.

dJointGetPistonParam

public static double dJointGetPistonParam(DPistonJoint j,
                                          int parameter)

Brief:

get joint parameter

dJointGetAMotorNumAxes

public static int dJointGetAMotorNumAxes(DAMotorJoint j)

Brief:

Get the number of angular axes that will be controlled by the AMotor. Num can range from 0 (which effectively deactivates the joint) to 3. This is automatically set to 3 in dAMotorEuler mode.

dJointGetAMotorAxis

public static void dJointGetAMotorAxis(DAMotorJoint j,
                                       int anum,
                                       DVector3 result)

Parameters:

anum - selects the axis to change (0,1 or 2).

0: The axis is anchored to the global frame.

1: The axis is anchored to the first body.

2: The axis is anchored to the second body.

result - Each axis can have one of three ``relative orientation'' modes.

Brief:

Get the AMotor axes.

dJointGetAMotorAxisRel

public static int dJointGetAMotorAxisRel(DAMotorJoint j,
                                         int anum)

Brief:

Get axis

Remark:

The axis vector is always specified in global coordinates regardless of the setting of rel. There are two GetAMotorAxis functions, one to return the axis and one to return the relative mode. For dAMotorEuler mode:

Only axes 0 and 2 need to be set. Axis 1 will be determined automatically at each time step.

Axes 0 and 2 must be perpendicular to each other.

Axis 0 must be anchored to the first body, axis 2 must be anchored to the second body.

dJointGetAMotorAngle

public static double dJointGetAMotorAngle(DAMotorJoint j,
                                          int anum)

Brief:

Get the current angle for axis.

Remark:

In dAMotorUser mode this is simply the value that was set with dJointSetAMotorAngle(). In dAMotorEuler mode this is the corresponding euler angle.

dJointGetAMotorAngleRate

public static double dJointGetAMotorAngleRate(DAMotorJoint j,
                                              int anum)

Brief:

Get the current angle rate for axis anum.

Remark:

In dAMotorUser mode this is always zero, as not enough information is available. In dAMotorEuler mode this is the corresponding euler angle rate.

dJointGetAMotorParam

public static double dJointGetAMotorParam(DAMotorJoint j,
                                          int parameter)

Brief:

get joint parameter

dJointGetAMotorMode

public static DAMotorJoint.AMotorMode dJointGetAMotorMode(DAMotorJoint j)

Brief:

Get the angular motor mode. Mode must be one of the following constants:

dAMotorUser The AMotor axes and joint angle settings are entirely controlled by the user. This is the default mode.

dAMotorEuler Euler angles are automatically computed. The axis a1 is also automatically computed. The AMotor axes must be set correctly when in this mode, as described below.

When this mode is initially set the current relative orientations of the bodies will correspond to all euler angles at zero.

dJointGetLMotorNumAxes

public static int dJointGetLMotorNumAxes(DLMotorJoint j)

Brief:

Get nr of axes.

dJointGetLMotorAxis

public static void dJointGetLMotorAxis(DLMotorJoint j,
                                       int anum,
                                       DVector3 result)

Brief:

Get axis.

dJointGetLMotorParam

public static double dJointGetLMotorParam(DLMotorJoint j,
                                          int parameter)

Brief:

get joint parameter

dJointGetFixedParam

public static double dJointGetFixedParam(DFixedJoint j,
                                         int parameter)

Brief:

get joint parameter

dConnectingJoint

public static DJoint dConnectingJoint(DBody b1,
                                      DBody b2)