org.ode4j.ode.DHingeJoint 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 DHingeJoint extends DJoint {
/**
* Set hinge anchor parameter.
* @param x x
* @param y y
* @param z z
*/
void setAnchor (double x, double y, double z);
/**
* Set hinge anchor parameter.
* @param a a
*/
void setAnchor (DVector3C a);
/**
* Get the hinge 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 containing the result
*/
void getAnchor (DVector3 result);
/**
* Get the joint anchor point, in world coordinates.
* Return the point on body 2. If the joint is perfectly satisfied,
* this will return the same value as dJointGetHingeAnchor().
* 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);
/**
* Set hinge axis.
* @param x x
* @param y y
* @param z z
*/
void setAxis (double x, double y, double z);
/**
* Set hinge axis.
* @param a a
*/
void setAxis (DVector3C a);
/**
* Get axis.
* @param result Vector containing the result
*/
void getAxis (DVector3 result);
/**
* Set the Hinge axis as if the 2 bodies were already at angle apart.
*
* This function initialize the Axis and the relative orientation of each body
* as if body1 was rotated around the axis by the angle value.
* Ex:
*
* dJointSetHingeAxis(jId, 1, 0, 0);
* // If you request the position you will have: dJointGetHingeAngle(jId) == 0
* dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
* // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
*
*
*
NOTE: Usually the function dJointSetHingeAxis set the current position of body1
* and body2 as the zero angle position. This function set the current position
* as the if the 2 bodies where \b angle apart.
*
WARNING: Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero"
* angle position.
*
* @param x The X component of the axis in world frame
* @param y The Y component of the axis in world frame
* @param z The Z component of the axis in world frame
* @param angle The angle for the offset of the relative orientation.
* As if body1 was rotated by angle when the Axis was set (see below).
* The rotation is around the new Hinge axis.
*/
void setAxisOffset(double x, double y, double z, double angle);
/**
* Get the hinge angle.
*
* The angle is measured between the two bodies, or between the body and
* the static environment.
* The angle will be between -pi..pi.
* Give the relative rotation with respect to the Hinge axis of Body 1 with
* respect to Body 2.
* When the hinge anchor or axis is set, the current position of the attached
* bodies is examined and that position will be the zero angle.
* @return angle
*/
double getAngle();
/**
* Get the hinge angle time derivative.
* @return rate
*/
double getAngleRate();
/**
* Applies the torque about the hinge axis.
*
* That is, it applies a torque with specified magnitude in the direction
* of the hinge 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);
void setParamFMax(double d);
void setParamVel(double cos);
void setParamLoStop(double d);
void setParamHiStop(double d);
void setParamBounce(double d);
/**
* Set joint parameter.
*/
@Override
void setParam (PARAM_N parameter, double value);
/**
* Get joint parameter.
*/
@Override
double getParam (PARAM_N parameter);
}