hmi.physics
Class PhysicalJoint

java.lang.Object
  hmi.physics.PhysicalJoint

Direct Known Subclasses:

OdeJoint

public abstract class PhysicalJoint
extends Object

PhysicalJoint

Author:

welberge

Field Summary

(package private) float[]	a1
(package private) float[]	a2
(package private) float[]	a3
(package private) float[]	ax1
(package private) float[]	ax2
(package private) float[]	ax3
protected float[]	axis1
protected float[]	axis2
protected float[]	hiStop
protected float[]	loStop
protected String	name
private float[]	q2
private float[]	q3
protected float[]	rotationBuffer
protected JointType	type

Constructor Summary

PhysicalJoint(JointType t, String n)
Constructor

Method Summary

abstract void	addTorque(float x, float y, float z) Add a torque to this joint
abstract float[]	getAnchor(float[] src) Get the joints current anchor point, in world coordinates
abstract float	getAngle(int axis) Get the current rotation angle around axis axis
abstract void	getAngularVelocity(float[] w) Get the angular velocity of the joint, in joint coordinates
abstract void	getAngularVelocity(float[] w, int i) Get the angular velocity of the joint, in joint coordinates
abstract void	getForce1(float[] force1) Get the force applied to body 1
abstract void	getForce2(float[] force2) Get the torque applied to body 2
String	getName()
void	getRotation(float[] q) Get the rotation of the joint in local coordinates
void	getRotation(float[] q, int i) Get the rotation of the joint in local coordinates
float[]	getRotationBuffer() get the current rotation buffer
abstract void	getTorque1(float[] torque1) Get the torque applied to body 1
abstract void	getTorque2(float[] torque2) Get the torque applied to body 2
JointType	getType()
abstract void	setAnchor(float x, float y, float z) Set the joint anchor point in world coordinates
void	setAxis(int ax, float x, float y, float z) Set the rotation axis
abstract void	setDesiredVelocity(int axis, float value) Set the desired rotational velocity of a dof of a joint
void	setJointMax(int ax, float max) Sets the joint rotational limits of a dof/axis, range -pi..pi
void	setJointMin(int ax, float min) Sets the joint rotational limits of a dof/axis, range -pi..pi
abstract void	setMaximumForce(int axis, float value) Sets the maximum force of a dof to use to gain the desired velocity
void	setName(String name)
void	setRotationBuffer(float[] rotationBuffer) Set the rotation buffer to which this joint should write it's physical simulation info (=joint rotation after a simulation step).
String	toString() Get the joint name

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

type

protected JointType type

name

protected String name

rotationBuffer

protected float[] rotationBuffer

axis1

protected float[] axis1

axis2

protected float[] axis2

hiStop

protected float[] hiStop

loStop

protected float[] loStop

q2

private float[] q2

q3

private float[] q3

a1

float[] a1

a2

float[] a2

a3

float[] a3

ax1

float[] ax1

ax2

float[] ax2

ax3

float[] ax3

Constructor Detail

PhysicalJoint

public PhysicalJoint(JointType t,
                     String n)

Constructor

Parameters:

t - type

n - name

Method Detail

getType

public JointType getType()

Returns:

the type

getTorque1

public abstract void getTorque1(float[] torque1)

Get the torque applied to body 1

getTorque2

public abstract void getTorque2(float[] torque2)

Get the torque applied to body 2

getForce1

public abstract void getForce1(float[] force1)

Get the force applied to body 1

getForce2

public abstract void getForce2(float[] force2)

Get the torque applied to body 2

addTorque

public abstract void addTorque(float x,
                               float y,
                               float z)

Add a torque to this joint

Parameters:

x -

y -

z -

getAngle

public abstract float getAngle(int axis)

Get the current rotation angle around axis axis

Parameters:

axis - the axis

Returns:

the angle

setDesiredVelocity

public abstract void setDesiredVelocity(int axis,
                                        float value)

Set the desired rotational velocity of a dof of a joint

Parameters:

axis - the axis/dof

value - the desired rotational velocity

setMaximumForce

public abstract void setMaximumForce(int axis,
                                     float value)

Sets the maximum force of a dof to use to gain the desired velocity

Parameters:

axis - the axis/dof

value - the maximum force

setJointMin

public void setJointMin(int ax,
                        float min)

Sets the joint rotational limits of a dof/axis, range -pi..pi

Parameters:

ax - the dof/axis

min - minimum rotation

setJointMax

public void setJointMax(int ax,
                        float max)

Sets the joint rotational limits of a dof/axis, range -pi..pi

Parameters:

ax - the dof/axis

max - maximum rotation

setAxis

public void setAxis(int ax,
                    float x,
                    float y,
                    float z)

Set the rotation axis

Parameters:

ax - axis 0>=nr>=2, axis 3 is set automatically

x - x

y - y

z - z

setAnchor

public abstract void setAnchor(float x,
                               float y,
                               float z)

Set the joint anchor point in world coordinates

Parameters:

x -

y -

z -

getAnchor

public abstract float[] getAnchor(float[] src)

Get the joints current anchor point, in world coordinates

Parameters:

src - float[3] to copy in, null means create new

Returns:

result

toString

public String toString()

Get the joint name

Overrides:

toString in class Object

getName

public String getName()

Returns:

the name

setName

public void setName(String name)

Parameters:

name - the name to set

setRotationBuffer

public void setRotationBuffer(float[] rotationBuffer)

Set the rotation buffer to which this joint should write it's physical simulation info (=joint rotation after a simulation step).

Parameters:

rotationBuffer - the buffer

getRotationBuffer

public float[] getRotationBuffer()

get the current rotation buffer

Returns:

the rotation buffer

getRotation

public void getRotation(float[] q)

Get the rotation of the joint in local coordinates

Parameters:

q - output: the joint rotation

getAngularVelocity

public abstract void getAngularVelocity(float[] w)

Get the angular velocity of the joint, in joint coordinates

Parameters:

w - the angular velocity

getAngularVelocity

public abstract void getAngularVelocity(float[] w,
                                        int i)

Get the angular velocity of the joint, in joint coordinates

Parameters:

w - the angular velocity

getRotation

public void getRotation(float[] q,
                        int i)

Get the rotation of the joint in local coordinates

Parameters:

q - output: the joint rotation