org.ode4j.ode.DPRJoint 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;
/**
* Prismatic and Rotoide.
*
* The axisP must be perpendicular to axis2
*
* +-------------+
* | x |
* +------------\+
* Prismatic articulation .. ..
* | .. ..
* \/ .. ..
* +--------------+ --| __.. .. anchor2
* | x | .....|.......(__) ..
* +--------------+ --| ^ <
* |----------------------->|
* Offset |--- Rotoide articulation
*
*/
public interface DPRJoint extends DJoint {
/**
* Set anchor.
* @param x x
* @param y y
* @param z z
*/
void setAnchor (double x, double y, double z);
/**
* Set anchor.
* @param a a
*/
void setAnchor (DVector3C a);
/**
* Set the axis for the prismatic articulation.
* @param x x
* @param y y
* @param z z
*/
void setAxis1 (double x, double y, double z);
/**
* Set the axis for the prismatic articulation.
* @param a a
*/
void setAxis1 (DVector3C a);
/**
* Set the axis for the rotoide articulation.
* @param x x
* @param y y
* @param z z
*/
void setAxis2 (double x, double y, double z);
/**
* Set the axis for the rotoide articulation.
* @param a a
*/
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.
* @param result Object that returns the result after calling this method
*/
void getAnchor (DVector3 result);
/**
* Get the prismatic axis.
* @param result Object that returns the result after calling this method
*/
void getAxis1 (DVector3 result);
/**
* Get the Rotoide axis.
* @param result Object that returns the result after calling this method
*/
void getAxis2 (DVector3 result);
/**
* Get the PR 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)]
* @return position
*/
double getPosition();
/**
* Get the PR linear position's time derivative.
* @return rate
*/
double getPositionRate();
void setParamLoStop(double d);
void setParamHiStop(double d);
void setParamLoStop2(double d);
void setParamHiStop2(double d);
void setParamVel2(double d);
void setParamFMax2(double d);
/**
* Get the PR angular position (i.e. the twist between the 2 bodies).
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
* @return angle
*/
double getAngle();
/**
* Get the PR angular position's time derivative.
* @return rate
*/
double getAngleRate();
/**
* Set joint parameter.
*
*
NOTE: parameterX where X equal 2 refer to parameter for the rotoide articulation
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
/**
* Applies the torque about the rotoide axis of the PR 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()}
* @param torque torque
*/
void addTorque(double torque);
}