org.ode4j.ode.DPistonJoint 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;
/**
* ****************************************************************************
* Piston
*
* ****************************************************************************
* Component of a Piston joint
*
* |- Anchor point
* Body_1 | Body_2
* +---------------+ V +------------------+
* / /| / /|
* / / + |-- ______ / / +
* / x /./........x.......(_____()..../ x /.......> axis
* +---------------+ / |-- +------------------+ /
* | |/ | |/
* +---------------+ +------------------+
* | |
* | |
* |------------------> <----------------------------|
* anchor1 anchor2
*
*
*
*
* When the prismatic joint as been elongated (i.e. dJointGetPistonPosition)
* return a value > 0
*
* |- Anchor point
* Body_1 | Body_2
* +---------------+ V +------------------+
* / /| / /|
* / / + |-- ______ / / +
* / x /./........_____x.......(_____()..../ x /.......> axis
* +---------------+ / |-- +------------------+ /
* | |/ | |/
* +---------------+ +------------------+
* | |
* | |
* |----------------.> <----------------------------|
* anchor1 |----| anchor2
* ^
* |-- This is what dJointGetPistonPosition will
* return
*
* ****************************************************************************
*/
public interface DPistonJoint extends DJoint {
/**
* Set the joint anchor.
* @param x x
* @param y y
* @param z z
*/
void setAnchor (double x, double y, double z);
/**
* Set the joint anchor.
* @param a a
*/
void setAnchor (DVector3C a);
/**
* Get the joint anchor.
*
* This returns the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2 in direction perpendicular
* to the prismatic axis.
* @param result Object that returns the result after calling this method
*/
void getAnchor (DVector3 result);
/**
* Get the joint anchor wrt body 2.
*
* This returns the point on body 2. You can think of a Piston
* joint as trying to keep the result of dJointGetPistonAnchor() and
* dJointGetPistonAnchor2() the same in the direction perpendicular to the
* prismatic axis. If the joint is perfectly satisfied,
* this function will return the same value as dJointGetPistonAnchor() to
* within roundoff errors. dJointGetPistonAnchor2() can be used, along with
* dJointGetPistonAnchor(), to see how far the joint has come apart.
* @param result Object that returns the result after calling this method
*/
void getAnchor2 (DVector3 result);
/**
* Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] apart.
*
* 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:
*
* double offset = 3;
* dVector3 axis;
* dJointGetPistonAxis(jId, axis);
* dJointSetPistonAnchor(jId, 0, 0, 0);
* // If you request the position you will have: dJointGetPistonPosition(jId) == 0
* dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
* // If you request the position you will have: dJointGetPistonPosition(jId) == offset
*
*
* @param xyz The X, Y and Z position of the anchor point in world frame
* @param dx A delta to be substracted to the X position as if the anchor was set
* when body1 was at current_position[X] - dx
* @param dy A delta to be substracted to the Y position as if the anchor was set
* when body1 was at current_position[Y] - dy
* @param dz A delta to be substracted to the Z position as if the anchor was set
* when body1 was at current_position[Z] - dz
*/
void setAnchorOffset(DVector3C xyz, double dx, double dy, double dz);
/**
* Set the joint axis.
* @param x x
* @param y y
* @param z z
*/
void setAxis (double x, double y, double z);
/**
* Set the joint axis.
* @param a a
*/
void setAxis (DVector3C a);
/**
* Get the prismatic axis (This is also the rotoide axis.
* @param result Object that returns the result after calling this method
*/
void getAxis (DVector3 result);
/**
* Get the Piston linear position (i.e. the piston's extension).
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
* @return position
*/
double getPosition();
/**
* Get the piston linear position's time derivative.
* @return rate
*/
double getPositionRate();
/**
* Applies the given force in the slider's direction.
*
* That is, it applies a force with specified magnitude, in the direction of
* prismatic's axis, to body1, and with the same magnitude but opposite
* direction to body2. This function is just a wrapper for dBodyAddForce().
* @param force force
*/
void addForce (double force);
double getParamLoStop2();
double getParamHiStop2();
void setParamLoStop2(double d);
void setParamHiStop2(double d);
/**
* Get the Piston 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 piston angular position's time derivative.
* @return angle
*/
double getAngleRate();
/**
* Set joint parameter.
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
}