org.ode4j.ode.DHinge2Joint 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 DHinge2Joint 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 both axes (optionally).
*
* This can change both axes at once avoiding transitions via invalid states
* while changing axes one by one and having the first changed axis coincide
* with the other axis existing direction.
*
* At least one of the axes must be not NULL. If NULL is passed, the corresponding
* axis retains its existing value.
* @param axis1 axis 1
* @param axis2 axis 2
*/
void setAxes(DVector3C axis1, DVector3C axis2);
/**
* Set both axes.
*
* This can change both axes at once avoiding transitions via invalid states
* while changing axes one by one and having the first changed axis coincide
* with the other axis existing direction.
* @param x1 x of axis 1
* @param y1 y of axis 1
* @param z1 z of axis 1
* @param x2 x of axis 2
* @param y2 y of axis 2
* @param z2 z of axis 2
*/
void setAxes(double x1, double y1, double z1, double x2, double y2, double z2);
/**
* Set axis.
*
* @param x x
* @param y y
* @param z z
* @deprecated Please use setAxes() instead
*/
@Deprecated
void setAxis1(double x, double y, double z);
/**
* Set axis.
*
* @param a a
* @deprecated Please use setAxes() instead
*/
@Deprecated
void setAxis1(DVector3C a);
/**
* Set axis.
*
* @param x x
* @param y y
* @param z z
* @deprecated Please use setAxes() instead
*/
@Deprecated
void setAxis2(double x, double y, double z);
/**
* Set axis.
*
* @param a a
* @deprecated Please use setAxes() instead
*/
@Deprecated
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 Vector containing the result
*/
void getAnchor (DVector3 result);
/**
* Get the joint anchor point, in world coordinates.
*
* This returns the point on body 2. If the joint is perfectly satisfied,
* this will return the same value as dJointGetHinge2Anchor.
* If not, this value will be slightly different.
* This can be used, for example, to see how far the joint has come apart.
* @param result Vector containing the result
*/
void getAnchor2 (DVector3 result);
/**
* Get joint axis.
* @param result Vector containing the result
*/
void getAxis1 (DVector3 result);
/**
* Get joint axis.
* @param result Vector containing the result
*/
void getAxis2 (DVector3 result);
/**
* Get angle.
* @return angle
*/
double getAngle1();
/**
* Get angle.
* @return angle
*/
double getAngle2();
/**
* Get time derivative of angle.
* @return rate
*/
double getAngle1Rate();
/**
* Get time derivative of angle.
* @return rate
*/
double getAngle2Rate();
/**
* Applies torque1 about the hinge2's axis 1, torque2 about the
* hinge2's axis 2.
*
* This function is just a wrapper for {@code dBodyAddTorque()}.
* @param torque1 torque 1
* @param torque2 torque 2
*/
void addTorques(double torque1, double torque2);
void setParamVel2(double d);
void setParamFMax2(double d);
void setParamVel(double d);
void setParamFMax(double d);
void setParamLoStop(double d);
void setParamHiStop(double d);
void setParamFudgeFactor(double d);
void setParamSuspensionERP(double d);
void setParamSuspensionCFM(double d);
/**
* Set joint parameter.
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
}