org.ode4j.ode.DSliderJoint 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 DSliderJoint extends DJoint {
/**
* 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 slider axis.
* @param result Contains the result after calling the function
*/
void getAxis (DVector3 result);
/**
* Get the slider linear position (i.e. the slider'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 distance, with respect to the zero position,
* along the slider axis of body 1 with respect to
* body 2. (A NULL body is replaced by the world).
* @return position
*/
double getPosition();
/**
* Get the slider 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
* slider'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);
void setParamFMax(double d);
void setParamLoStop(double d);
void setParamHiStop(double d);
void setParamVel(double d);
void setParamBounce(double d);
/**
* @param x x
* @param y y
* @param z z
* @param dx dx
* @param dy dy
* @param dz dz
*/
void setAxisDelta(double x, double y, double z,
double dx, double dy, double dz);
/**
* Set joint parameter.
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
}