org.ode4j.ode.DPUJoint Maven / Gradle / Ivy
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: [email protected] Web: www.q12.org *
* Open Dynamics Engine 4J, Copyright (C) 2007-2013 Tilmann Zaeschke *
* All rights reserved. Email: [email protected] Web: www.ode4j.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more *
* details. *
* *
*************************************************************************/
package org.ode4j.ode;
import org.ode4j.math.DVector3;
import org.ode4j.math.DVector3C;
public interface DPUJoint extends DJoint {
/**
* Set anchor.
* @ingroup joints
*/
void setAnchor (double x, double y, double z);
/**
* Set anchor.
* @ingroup joints
*/
void setAnchor (DVector3C a);
/**
* Set the axis for the first axis or the universal articulation.
* @ingroup joints
*/
void setAxis1 (double x, double y, double z);
/**
* Set the axis for the first axis or the universal articulation.
* @ingroup joints
*/
void setAxis1 (DVector3C a);
/**
* Set the axis for the second axis or the universal articulation.
* @ingroup joints
*/
void setAxis2 (double x, double y, double z);
/**
* Set the axis for the second axis or the universal articulation.
* @ingroup joints
*/
void setAxis2 (DVector3C a);
/**
* Set the axis for the prismatic articulation.
* @ingroup joints
*/
void setAxis3 (double x, double y, double z);
/**
* Set the axis for the prismatic articulation.
* @ingroup joints
*/
void setAxis3 (DVector3C a);
/**
* Set the axis for the prismatic articulation.
* @ingroup joints
* @note This function was added for convenience it is the same as
* dJointSetPUAxis3
*/
void setAxisP (double x, double y, double z);
/**
* Set the axis for the prismatic articulation.
* @ingroup joints
* @note This function was added for convenience it is the same as
* dJointSetPUAxis3
*/
void setAxisP (DVector3C a);
/**
* 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.
* @ingroup joints
*/
void getAnchor (DVector3 result);
/**
* Get the first axis of the universal component of the joint.
* @ingroup joints
*/
void getAxis1 (DVector3 result);
/**
* Get the second axis of the Universal component of the joint.
* @ingroup joints
*/
void getAxis2 (DVector3 result);
/**
* Get the prismatic axis.
* @ingroup joints
*/
void getAxis3 (DVector3 result);
/**
* Get the prismatic axis.
* @ingroup joints
*
* @note This function was added for convenience it is the same as
* dJointGetPUAxis3
*/
void getAxisP (DVector3 result);
// /**
// * Get both angles at the same time.
// * @ingroup joints
// *
// * @param joint The Prismatic universal joint for which we want to calculate the angles
// * @param angle1 The angle between the body1 and the axis 1
// * @param angle2 The angle between the body2 and the axis 2
// *
// * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together
// * and try to avoid redundant calculation
// */
/**
* Get angle between the body1 and the axis 1.
* @ingroup joints
*/
double getAngle1();
/**
* Get time derivative of angle1.
*
* @ingroup joints
*/
double getAngle1Rate();
/**
* Get angle between the body2 and the axis 2.
* @ingroup joints
*/
double getAngle2();
/**
* Get time derivative of angle2.
*
* @ingroup joints
*/
double getAngle2Rate();
/**
* 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)]
*
* @ingroup joints
*/
double getPosition();
/**
* Get the PR linear position's time derivative.
*
* @ingroup joints
*/
double getPositionRate();
// /**
// * Applies the torque about the rotoide axis of the PU 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()}
// * @ingroup joints
// */
// TODO there is no implementation. Use dBodyAddTorque???? Or leave unimplemented?
// void addTorque (double torque);
/**
* Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] apart.
* @ingroup joints
*
* This function initialize the anchor and the relative position of each body
* as if the position between body1 and body2 was already the projection of [dx, dy, dz]
* along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the
* axis is set).
* Ex:
*
* dReal offset = 3;
* dVector3 axis;
* dJointGetPUAxis(jId, axis);
* dJointSetPUAnchor(jId, 0, 0, 0);
* // If you request the position you will have: dJointGetPUPosition(jId) == 0
* dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
* // If you request the position you will have: dJointGetPUPosition(jId) == offset
*
*
* @param x The X position of the anchor point in world frame
* @param y The Y position of the anchor point in world frame
* @param z The Z position of the anchor point in world frame
* @param dx A delta to be subtracted to the X position as if the anchor was set
* when body1 was at current_position[X] - dx
* @param dy A delta to be subtracted to the Y position as if the anchor was set
* when body1 was at current_position[Y] - dy
* @param dz A delta to be subtracted to the Z position as if the anchor was set
* when body1 was at current_position[Z] - dz
*/
void setAnchorOffset(double x, double y, double z, double dx, double dy,
double dz);
/**
* Set joint parameter.
* @ingroup joints
*
* @note parameterX where X equal 2 refer to parameter for second axis of the
* universal articulation
* @note parameterX where X equal 3 refer to parameter for prismatic
* articulation
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
* @ingroup joints
*/
@Override
double getParam (PARAM_N parameter);
}