org.ode4j.ode.DUniversalJoint 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 DUniversalJoint extends DJoint {
/**
* Set anchor.
*/
void setAnchor (double x, double y, double z);
/**
* Set anchor.
*/
void setAnchor (DVector3C a);
/**
* Set axis.
*/
void setAxis1 (double x, double y, double z);
/**
* Set axis.
*/
void setAxis1 (DVector3C a);
/**
* Set axis.
*/
void setAxis2 (double x, double y, double z);
/**
* Set axis.
*/
void setAxis2 (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.
*/
void getAnchor (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.
*/
void getAnchor2 (DVector3 result);
/**
* Get axis.
*/
void getAxis1 (DVector3 result);
/**
* Get axis.
*/
void getAxis2 (DVector3 result);
// /**
// * Get both angles at the same time.
// *
// *
NOTE: This function combine getUniversalAngle1 and getUniversalAngle2 together
// * and try to avoid redundant calculation
// *
// * @param joint The 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
// */
/**
* Get angle between body the 1 and the axis 1.
*/
double getAngle1();
/**
* Get angle between body the 2 and the axis 2.
*/
double getAngle2();
/**
* Get time derivative of angle.
*/
double getAngle1Rate();
/**
* Get time derivative of angle.
*/
double getAngle2Rate();
/**
* Applies torque1 about the universal's axis 1, torque2 about the
* universal's axis 2.
*
*
REMARK: This function is just a wrapper for dBodyAddTorque().
*/
void addTorques (double torque1, double torque2);
/**
* 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
*
*
*
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.
*
*
NOTE: Any previous offsets are erased.
*
*
WARNING: Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1,
* dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset
* will reset the "zero" angle position.
*
* @param x The X component of the axis in world frame
* @param y The Y component of the axis in world frame
* @param z The Z component of the axis in world frame
* @param 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.
* @param offset2
*/
void setAxis1Offset(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
*
*
*
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.
*
*
NOTE: Any previous offsets are erased.
*
*
WARNING: Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1,
* dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset
* will reset the "zero" angle position.
*
* @param x The X component of the axis in world frame
* @param y The Y component of the axis in world frame
* @param z The Z component of the axis in world frame
* @param 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.
* @param offset2
*/
void setAxis2Offset(double x, double y, double z, double offset1,
double offset2);
/**
* Set joint parameter.
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
}