org.ode4j.ode
Interface DPRJoint

All Superinterfaces:

DJoint

public interface DPRJoint
extends DJoint

Prismatic and Rotoide. The axisP must be perpendicular to axis2

                                        +-------------+
                                        |      x      |
                                        +------------\+
 Prismatic articulation                   ..     ..
                       |                ..     ..
                      \/              ..      ..
 +--------------+    --|        __..      ..  anchor2
 |      x       | .....|.......(__)     ..
 +--------------+    --|         ^     <
        |----------------------->|
            Offset               |--- Rotoide articulation
 

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	addTorque(double torque) Applies the torque about the rotoide axis of the PR joint.
void	getAnchor(DVector3 result) Get the joint anchor point, in world coordinates.
double	getAngle() Get the PR angular position (i.e.
double	getAngleRate() Get the PR angular position's time derivative.
void	getAxis1(DVector3 result) Get the prismatic axis.
void	getAxis2(DVector3 result) Get the Rotoide axis.
double	getParam(DJoint.PARAM_N parameter) Get joint parameter.
double	getPosition() Get the PR linear position (i.e.
double	getPositionRate() Get the PR linear position's time derivative.
void	setAnchor(double x, double y, double z) Set anchor.
void	setAnchor(DVector3C a) Set anchor.
void	setAxis1(double x, double y, double z) Set the axis for the prismatic articulation.
void	setAxis1(DVector3C a) Set the axis for the prismatic articulation.
void	setAxis2(double x, double y, double z) Set the axis for the rotoide articulation.
void	setAxis2(DVector3C a) Set the axis for the rotoide articulation.
void	setParam(DJoint.PARAM_N parameter, double value) Set joint parameter.
void	setParamFMax2(double d)
void	setParamHiStop(double d)
void	setParamHiStop2(double d)
void	setParamLoStop(double d)
void	setParamLoStop2(double d)
void	setParamVel2(double d)

Methods inherited from interface org.ode4j.ode.DJoint

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

Method Detail

setAnchor

void setAnchor(double x,
               double y,
               double z)

Set anchor.

setAnchor

void setAnchor(DVector3C a)

Set anchor.

setAxis1

void setAxis1(double x,
              double y,
              double z)

Set the axis for the prismatic articulation.

setAxis1

void setAxis1(DVector3C a)

Set the axis for the prismatic articulation.

setAxis2

void setAxis2(double x,
              double y,
              double z)

Set the axis for the rotoide articulation.

setAxis2

void setAxis2(DVector3C a)

Set the axis for the rotoide articulation.

getAnchor

void getAnchor(DVector3 result)

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.

getAxis1

void getAxis1(DVector3 result)

Get the prismatic axis.

getAxis2

void getAxis2(DVector3 result)

Get the Rotoide axis.

getPosition

double getPosition()

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)]

getPositionRate

double getPositionRate()

Get the PR linear position's time derivative.

setParamLoStop

void setParamLoStop(double d)

setParamHiStop

void setParamHiStop(double d)

setParamLoStop2

void setParamLoStop2(double d)

setParamHiStop2

void setParamHiStop2(double d)

setParamVel2

void setParamVel2(double d)

setParamFMax2

void setParamFMax2(double d)

getAngle

double getAngle()

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.

getAngleRate

double getAngleRate()

Get the PR angular position's time derivative.

setParam

void setParam(DJoint.PARAM_N parameter,
              double value)

Set joint parameter.

Specified by:

setParam in interface DJoint

Note:

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

getParam

double getParam(DJoint.PARAM_N parameter)

Get joint parameter.

Specified by:

getParam in interface DJoint

addTorque

void addTorque(double torque)

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()}