org.ode4j.ode
Interface DPUJoint

All Superinterfaces:

DJoint

public interface DPUJoint
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	getAnchor(DVector3 result) Get the joint anchor point, in world coordinates.
double	getAngle1() Get angle between the body1 and the axis 1.
double	getAngle1Rate() Get time derivative of angle1.
double	getAngle2() Get angle between the body2 and the axis 2.
double	getAngle2Rate() Get time derivative of angle2.
void	getAxis1(DVector3 result) Get the first axis of the universal component of the joint.
void	getAxis2(DVector3 result) Get the second axis of the Universal component of the joint.
void	getAxis3(DVector3 result) Get the prismatic axis.
void	getAxisP(DVector3 result) Get the prismatic axis.
double	getParam(DJoint.PARAM_N parameter) Get joint parameter.
double	getPosition() Get the PU 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	setAnchorOffset(double x, double y, double z, double dx, double dy, double dz) Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] apart.
void	setAxis1(double x, double y, double z) Set the axis for the first axis or the universal articulation.
void	setAxis1(DVector3C a) Set the axis for the first axis or the universal articulation.
void	setAxis2(double x, double y, double z) Set the axis for the second axis or the universal articulation.
void	setAxis2(DVector3C a) Set the axis for the second axis or the universal articulation.
void	setAxis3(double x, double y, double z) Set the axis for the prismatic articulation.
void	setAxis3(DVector3C a) Set the axis for the prismatic articulation.
void	setAxisP(double x, double y, double z) Set the axis for the prismatic articulation.
void	setAxisP(DVector3C a) Set the axis for the prismatic articulation.
void	setParam(DJoint.PARAM_N parameter, double value) Set joint parameter.

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 first axis or the universal articulation.

setAxis1

void setAxis1(DVector3C a)

Set the axis for the first axis or the universal articulation.

setAxis2

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

Set the axis for the second axis or the universal articulation.

setAxis2

void setAxis2(DVector3C a)

Set the axis for the second axis or the universal articulation.

setAxis3

void setAxis3(double x,
              double y,
              double z)

Set the axis for the prismatic articulation.

setAxis3

void setAxis3(DVector3C a)

Set the axis for the prismatic articulation.

setAxisP

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

Set the axis for the prismatic articulation.

Note:

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

setAxisP

void setAxisP(DVector3C a)

Set the axis for the prismatic articulation.

Note:

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

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 first axis of the universal component of the joint.

getAxis2

void getAxis2(DVector3 result)

Get the second axis of the Universal component of the joint.

getAxis3

void getAxis3(DVector3 result)

Get the prismatic axis.

getAxisP

void getAxisP(DVector3 result)

Get the prismatic axis.

Note:

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

getAngle1

double getAngle1()

Get angle between the body1 and the axis 1.

getAngle1Rate

double getAngle1Rate()

Get time derivative of angle1.

getAngle2

double getAngle2()

Get angle between the body2 and the axis 2.

getAngle2Rate

double getAngle2Rate()

Get time derivative of angle2.

getPosition

double getPosition()

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)]

getPositionRate

double getPositionRate()

Get the PR linear position's time derivative.

setAnchorOffset

void setAnchorOffset(double x,
                     double y,
                     double z,
                     double dx,
                     double dy,
                     double dz)

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

Parameters:

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 subtracted to the X position as if the anchor was set when body1 was at current_position[X] - dx

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

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

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

getParam

double getParam(DJoint.PARAM_N parameter)

Get joint parameter.

Specified by:

getParam in interface DJoint