org.ode4j.ode
Interface DAMotorJoint

All Superinterfaces:

DJoint

public interface DAMotorJoint
extends DJoint

Nested Class Summary

static class

DAMotorJoint.AMotorMode angular motor mode numbers

Nested classes/interfaces inherited from interface org.ode4j.ode.DJoint

DJoint.DJointFeedback, DJoint.PARAM, DJoint.PARAM_GROUPS, DJoint.PARAM_N

Field Summary

Fields inherited from interface org.ode4j.ode.DJoint

P_OFS_1, P_OFS_2, P_OFS_3

Method Summary

void	addTorques(double torque1, double torque2, double torque3) Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2.
double	getAngle(int anum) Get the current angle for axis.
double	getAngleRate(int anum) Get the current angle rate for axis anum.
void	getAxis(int anum, DVector3 result) Get the AMotor axes.
int	getAxisRel(int anum) Get axis.
DAMotorJoint.AMotorMode	getMode() Get the angular motor mode.
int	getNumAxes() Get the number of angular axes that will be controlled by the AMotor.
double	getParam(DJoint.PARAM_N parameter) Get joint parameter.
double	getParamFMax()
double	getParamFMax2()
double	getParamFMax3()
double	getParamVel()
double	getParamVel2()
double	getParamVel3()
void	setAngle(int anum, double angle) Tell the AMotor what the current angle is along axis anum.
void	setAxis(int anum, int rel, double x, double y, double z) Set axis.
void	setAxis(int anum, int rel, DVector3C a) Set axis.
void	setMode(DAMotorJoint.AMotorMode mode) Set mode.
void	setNumAxes(int num) Set the nr of axes.
void	setParam(DJoint.PARAM_N parameter, double value) Set joint parameter.
void	setParamFMax(double d)
void	setParamFMax2(double d)
void	setParamFMax3(double d)
void	setParamHiStop(double d)
void	setParamHiStop2(double d)
void	setParamHiStop3(double d)
void	setParamLoStop(double d)
void	setParamLoStop2(double d)
void	setParamLoStop3(double d)
void	setParamVel(double d)
void	setParamVel2(double d)
void	setParamVel3(double d)

Methods inherited from interface org.ode4j.ode.DJoint

attach, DESTRUCTOR, disable, enable, getBody, getData, getFeedback, getNumBodies, isEnabled, setData, setFeedback

Method Detail

setMode

void setMode(DAMotorJoint.AMotorMode mode)

Set mode.

getMode

DAMotorJoint.AMotorMode getMode()

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.

setNumAxes

void setNumAxes(int num)

Set the nr of axes.

Parameters:

num - 0..3

getNumAxes

int getNumAxes()

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.

setAxis

void setAxis(int anum,
             int rel,
             double x,
             double y,
             double z)

Set axis.

setAxis

void setAxis(int anum,
             int rel,
             DVector3C a)

Set axis.

getAxis

void getAxis(int anum,
             DVector3 result)

Get the AMotor axes.

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.

getAxisRel

int getAxisRel(int anum)

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.

setAngle

void setAngle(int anum,
              double angle)

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.

getAngle

double getAngle(int anum)

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.

getAngleRate

double getAngleRate(int anum)

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.

addTorques

void addTorques(double torque1,
                double torque2,
                double torque3)

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().

getParamFMax

double getParamFMax()

getParamFMax2

double getParamFMax2()

getParamFMax3

double getParamFMax3()

getParamVel

double getParamVel()

getParamVel2

double getParamVel2()

getParamVel3

double getParamVel3()

setParamFMax

void setParamFMax(double d)

setParamFMax2

void setParamFMax2(double d)

setParamFMax3

void setParamFMax3(double d)

setParamLoStop

void setParamLoStop(double d)

setParamLoStop2

void setParamLoStop2(double d)

setParamLoStop3

void setParamLoStop3(double d)

setParamHiStop

void setParamHiStop(double d)

setParamHiStop2

void setParamHiStop2(double d)

setParamHiStop3

void setParamHiStop3(double d)

setParamVel

void setParamVel(double d)

setParamVel2

void setParamVel2(double d)

setParamVel3

void setParamVel3(double d)

setParam

void setParam(DJoint.PARAM_N parameter,
              double value)

Set joint parameter.

Specified by:

setParam in interface DJoint

getParam

double getParam(DJoint.PARAM_N parameter)

Get joint parameter.

Specified by:

getParam in interface DJoint