org.ode4j.ode.DTransmissionJoint 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) 2009-2014 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 DTransmissionJoint extends DJoint {
/**
* Get the contact point of the first wheel of the Transmission joint.
*/
void getContactPoint1(DVector3 result);
/**
* Get contact point of the second wheel of the Transmission joint.
*/
void getContactPoint2(DVector3 result);
/**
* Set the first axis for the Transmission joint.
* REMARK: This is the axis around which the first body is allowed to
* revolve and is attached to it. It is given in global coordinates
* and can only be set explicitly in intersecting-axes mode. For the
* parallel-axes and chain modes which share one common axis of
* revolution for both gears setAxis should be used.
*/
void setAxis1(DVector3C xyz);
/**
* @see #setAxis1(DVector3C)
*/
void setAxis1(double x, double y, double z);
/**
* Get first axis for the Transmission joint.
*
REMARK: In parallel-axes and chain mode the common axis with
* respect to the first body is returned. If the joint constraint is
* satisfied it should be the same as the axis return with
* getAxis2 or getAxis.
*/
void getAxis1(DVector3 result);
/**
* Set second axis for the Transmission joint.
*
REMARK: This is the axis around which the second body is allowed
* to revolve and is attached to it. It is given in global
* coordinates and can only be set explicitly in intersecting-axes
* mode. For the parallel-axes and chain modes which share one common
* axis of revolution for both gears setAxis should
* be used.
*/
void setAxis2(DVector3C xyz);
/**
* @see #setAxis2(DVector3C)
*/
void setAxis2(double x, double y, double z);
/**
* Get second axis for the Transmission joint.
*
REMARK: In parallel-axes and chain mode the common axis with
* respect to the second body is returned. If the joint constraint is
* satisfied it should be the same as the axis return with
* getAxis1 or getAxis.
*/
void getAxis2(DVector3 result);
/**
* Set the first anchor for the Transmission joint.
*
REMARK: This is the point of attachment of the wheel on the
* first body. It is given in global coordinates.
*/
void setAnchor1(DVector3C xyz);
/**
* @see #setAnchor1(DVector3C)
*/
void setAnchor1(double x, double y, double z);
/**
* Get the first anchor of the Transmission joint.
*/
void getAnchor1(DVector3 result);
/**
* Set the second anchor for the Transmission joint.
*
REMARK: This is the point of attachment of the wheel on the
* second body. It is given in global coordinates.
*/
void setAnchor2(DVector3C xyz);
/**
* @see #setAnchor2(DVector3C)
*/
void setAnchor2(double x, double y, double z);
/**
* Get the second anchor for the Transmission joint.
*/
void getAnchor2(DVector3 result);
/**
* Set a Transmission joint parameter.
*/
@Override
void setParam(PARAM_N parameter, double value);
/**
* Get a Transmission joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
/**
* Set the Transmission joint mode.
*
REMARK: The mode can be one of dTransmissionParallelAxes,
* dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a
* set of parallel-axes gears, intersecting-axes beveled gears or
* chain and sprockets respectively.
*/
void setMode(TRANSMISSION mode );
/**
* Get the Transmission joint mode.
*/
TRANSMISSION getMode();
/**
* Set the Transmission ratio.
*
REMARK: This is the ratio of the angular speed of the first gear
* to that of the second gear. It can only be set explicitly in
* parallel-axes mode. In intersecting-axes mode the ratio is defined
* implicitly by the initial configuration of the wheels and in chain
* mode it is defined implicitly be the wheel radii.
*/
void setRatio(double ratio );
/**
* Get the Transmission joint ratio.
*/
double getRatio();
/**
* Set the common axis for both wheels of the Transmission joint.
*
REMARK: This sets the common axis of revolution for both wheels
* and should only be used in parallel-axes or chain mode. For
* intersecting-axes mode where each wheel axis needs to be specified
* individually dJointSetTransmissionAxis1 and
* dJointSetTransmissionAxis2 should be used. The axis is given in
* global coordinates
*/
void setAxis(DVector3C xyz);
/**
* @see #setAxis(DVector3C)
*/
void setAxis(double x, double y, double z );
/**
* Get the common axis for both wheels of the Transmission joint.
*/
void getAxis(DVector3 result );
/**
* Get the phase, that is the traversed angle for the first
* wheel of the Transmission joint.
*/
double getAngle1();
/**
* Get the phase, that is the traversed angle for the second
* wheel of the Transmission joint.
*/
double getAngle2();
/**
* Get the radius of the first wheel of the Transmission joint.
*/
double getRadius1();
/**
* Get the radius of the second wheel of the Transmission joint.
*/
double getRadius2();
/**
* Set the radius of the first wheel of the Transmission joint.
*
REMARK: The wheel radii can only be set explicitly in chain mode.
* In the other modes they're defined implicitly by the initial
* configuration and ratio of the wheels.
*/
void setRadius1(double radius );
/**
* Set the radius of the second wheel of the Transmission joint.
*
REMARK: The wheel radii can only be set explicitly in chain mode.
* In the other modes they're defined implicitly by the initial
* configuration and ratio of the wheels.
*/
void setRadius2(double radius );
/**
* Get the backlash of the Transmission joint.
*/
double getBacklash();
/**
* Set the backlash of the Transmission joint.
*
REMARK: Backlash is the clearance in the mesh of the wheels of the
* transmission and is defined as the maximum distance that the
* geometric contact point can travel without any actual contact or
* transfer of power between the wheels. This can be converted in
* degrees of revolution for each wheel by dividing by the wheel's
* radius. To further illustrate this consider the situation where a
* wheel of radius r_1 is driving another wheel of radius r_2 and
* there is an amount of backlash equal to b in their mesh. If the
* driving wheel were to instantaneously stop there would be no
* contact and hence the driven wheel would continue to turn for
* another b / r_2 radians until all the backlash in the mesh was take
* up and contact restored with the relationship of driving and driven
* wheel reversed. The backlash is therefore given in untis of
* length.
*/
void setBacklash(double backlash );
}