org.ode4j.ode
Interface DLMotorJoint

All Superinterfaces:

DJoint

public interface DLMotorJoint
extends DJoint

Nested Class Summary

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	getAxis(int anum, DVector3 result) Get axis.
int	getNumAxes() Get nr of axes.
double	getParam(DJoint.PARAM_N parameter) Get joint parameter.
double	getParamFMax()
double	getParamFMax2()
double	getParamFMax3()
double	getParamVel()
double	getParamVel2()
double	getParamVel3()
void	setAxis(int anum, int rel, double x, double y, double z) Set the AMotor axes.
void	setAxis(int anum, int rel, DVector3C a) Set the AMotor axes.
void	setNumAxes(int num) Set the number of axes that will be controlled by the LMotor.
void	setParam(DJoint.PARAM_N parameter, double value) Set joint parameter.
void	setParamFMax(double d)
void	setParamFMax2(double d)
void	setParamFMax3(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

setNumAxes

void setNumAxes(int num)

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

Parameters:

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

getNumAxes

int getNumAxes()

Get nr of axes.

setAxis

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

Set the AMotor axes.

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.

Remark:

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

setAxis

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

Set the AMotor axes.

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.

Remark:

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

getAxis

void getAxis(int anum,
             DVector3 result)

Get axis.

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

getParamVel

double getParamVel()

getParamVel2

double getParamVel2()

getParamVel3

double getParamVel3()

getParamFMax

double getParamFMax()

getParamFMax2

double getParamFMax2()

getParamFMax3

double getParamFMax3()

setParamVel

void setParamVel(double d)

setParamVel2

void setParamVel2(double d)

setParamVel3

void setParamVel3(double d)

setParamFMax

void setParamFMax(double d)

setParamFMax2

void setParamFMax2(double d)

setParamFMax3

void setParamFMax3(double d)