org.ode4j.ode.DBallJoint 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 DBallJoint extends DJoint {
/**
* Set the joint anchor point.
*
* The joint will try to keep this point on each body
* together. The input is specified in world coordinates.
* @param x x
* @param y y
* @param z z
*/
void setAnchor (double x, double y, double z);
/**
* Set the joint anchor point.
* @param x x
* @param y y
* @param z z
*/
void setAnchor2(double x, double y, double z);
/**
* Set the joint anchor point.
*
* The joint will try to keep this point on each body
* together. The input is specified in world coordinates.
* @param a vector a
*/
void setAnchor (DVector3C a);
/**
* Set the joint anchor point on body 2.
* @param a vector a
*/
void setAnchor2 (DVector3C a);
/**
* Get the joint anchor point, in world coordinates.
*
* This returns the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
* @param result Vector with result
*/
void getAnchor (DVector3 result);
/**
* Get the joint anchor point, in world coordinates.
*
* This returns the point on body 2. You can think of a ball and socket
* joint as trying to keep the result of {@code dJointGetBallAnchor()} and
* {@code dJointGetBallAnchor2()} the same. If the joint is perfectly satisfied,
* this function will return the same value as {@code dJointGetBallAnchor()} to
* within roundoff errors. {@code dJointGetBallAnchor2()} can be used, along with
* {@code dJointGetBallAnchor()}, to see how far the joint has come apart.
* @param result Vector with result
*/
void getAnchor2 (DVector3 result);
/**
* Param setting for Ball joints
*/
@Override
void setParam(PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
}