org.ode4j.ode
Interface DUniversalJoint

All Superinterfaces:

DJoint

public interface DUniversalJoint
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	addTorques(double torque1, double torque2) Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2.
void	getAnchor(DVector3 result) Get the joint anchor point, in world coordinates.
void	getAnchor2(DVector3 result) Get the joint anchor point, in world coordinates.
double	getAngle1() Get angle between body the 1 and the axis 1.
double	getAngle1Rate() Get time derivative of angle.
double	getAngle2() Get angle between body the 2 and the axis 2.
double	getAngle2Rate() Get time derivative of angle.
void	getAxis1(DVector3 result) Get axis.
void	getAxis2(DVector3 result) Get axis.
double	getParam(DJoint.PARAM_N parameter) Get joint parameter.
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 axis.
void	setAxis1(DVector3C a) Set axis.
void	setAxis1Offset(double x, double y, double z, double offset1, double offset2) Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.
void	setAxis2(double x, double y, double z) Set axis.
void	setAxis2(DVector3C a) Set axis.
void	setAxis2Offset(double x, double y, double z, double offset1, double offset2) Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.
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 axis.

setAxis1

void setAxis1(DVector3C a)

Set axis.

setAxis2

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

Set axis.

setAxis2

void setAxis2(DVector3C a)

Set axis.

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.

getAnchor2

void getAnchor2(DVector3 result)

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.

getAxis1

void getAxis1(DVector3 result)

Get axis.

getAxis2

void getAxis2(DVector3 result)

Get axis.

getAngle1

double getAngle1()

Get angle between body the 1 and the axis 1.

getAngle2

double getAngle2()

Get angle between body the 2 and the axis 2.

getAngle1Rate

double getAngle1Rate()

Get time derivative of angle.

getAngle2Rate

double getAngle2Rate()

Get time derivative of angle.

addTorques

void addTorques(double torque1,
                double torque2)

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

Remark:

This function is just a wrapper for dBodyAddTorque().

setAxis1Offset

void setAxis1Offset(double x,
                    double y,
                    double z,
                    double offset1,
                    double offset2)

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

This function initialize the axis1 and the relative orientation of each body as if body1 was rotated around the new axis1 by the offset1 value and as if body2 was rotated around the axis2 by offset2.

Ex:
dJointSetHuniversalAxis1(jId, 1, 0, 0);
// If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
// If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
// If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
// If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17


Parameters:

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

offset1 - 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.

offset2 -

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.

setAxis2Offset

void setAxis2Offset(double x,
                    double y,
                    double z,
                    double offset1,
                    double offset2)

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

This function initialize the axis2 and the relative orientation of each body as if body1 was rotated around the axis1 by the offset1 value and as if body2 was rotated around the new axis2 by offset2.

Ex:
dJointSetHuniversalAxis2(jId, 0, 1, 0);
// If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
// If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
// If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
// If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17


Parameters:

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

offset1 - 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.

offset2 -

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 apart., Any previous offsets are erased.

Warning:

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

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