net.java.dev.joode.joint
Class JointHinge

java.lang.Object
  net.java.dev.joode.WorldObject
      net.java.dev.joode.joint.Joint
          net.java.dev.joode.joint.JointHinge

All Implemented Interfaces:

java.io.Serializable, SimState

public class JointHinge
extends Joint

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class net.java.dev.joode.joint.Joint

Joint.Info1, Joint.Info2

Field Summary

Vector3	anchor1 anchor measured relative to body 1
Vector3	anchor2 anchor measured relative to body 2 or absolute world coords if body 2 is null
Vector3	axis1
Vector3	axis2
JointLimitMotor	limot

Fields inherited from class net.java.dev.joode.joint.Joint

body, dJOINT_INGROUP, dJOINT_REVERSE, dJOINT_TWOBODIES, feedback, flags, lambda, MAX_BODIES

Fields inherited from class net.java.dev.joode.WorldObject

data, tag, world

Constructor Summary

JointHinge(World world)

Method Summary

JointHinge	cloneState(ClonedReferences util) deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object.
float	getHingeAngle() Gets the hinge angle.
static float	getHingeAngle(Body body1, Body body2, Vector3 axis, Quaternion q_initial)
static float	getHingeAngleFromRelativeQuat(Quaternion qrel, Vector3 axis)
void	getInfo1(Joint.Info1 info)
void	getInfo2(Joint.Info2 info)
void	setAnchor(float x, float y, float z)
void	setAxis(float x, float y, float z)

Methods inherited from class net.java.dev.joode.joint.Joint

attach, destroy, partialCloneJoint, removeJointReferencesFromAttachedBodies, reset, setJointId

Methods inherited from class net.java.dev.joode.WorldObject

partialCloneWorldObject

Methods inherited from class java.lang.Object

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

Field Detail

anchor1

public final Vector3 anchor1

anchor measured relative to body 1

anchor2

public final Vector3 anchor2

anchor measured relative to body 2 or absolute world coords if body 2 is null

axis1

public final Vector3 axis1

axis2

public final Vector3 axis2

limot

public JointLimitMotor limot

Constructor Detail

JointHinge

public JointHinge(World world)

Method Detail

getInfo1

public void getInfo1(Joint.Info1 info)

Specified by:

getInfo1 in class Joint

getInfo2

public void getInfo2(Joint.Info2 info)

Specified by:

getInfo2 in class Joint

setAnchor

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

setAxis

public final void setAxis(float x,
                          float y,
                          float z)

getHingeAngle

public float getHingeAngle()

Gets the hinge angle. The angle is measured between the two bodies, or between the body and the static environment. Zero corresponds to the angle at the time setAnchor(float, float, float) or setAxis(float, float, float) was last called.

Returns:

the hinge angle, in radians

getHingeAngle

public static float getHingeAngle(Body body1,
                                  Body body2,
                                  Vector3 axis,
                                  Quaternion q_initial)

getHingeAngleFromRelativeQuat

public static float getHingeAngleFromRelativeQuat(Quaternion qrel,
                                                  Vector3 axis)

cloneState

public JointHinge cloneState(ClonedReferences util)

Description copied from interface: SimState

deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object. The util object ensures that multiple clones of the same object are not performed during a clone operation.

Parameters:

util - instanciate a new one if top level cloning