public double dJointGetPUParam( PARAM_N parameter ) { switch ( parameter.toGROUP() )//and( 0xff00 )) { case dParamGroup1: return limot1.get( parameter.toSUB());// ); // break; case dParamGroup2: return limot2.get( parameter.toSUB());//and( 0xff )); // break; case dParamGroup3: return limotP.get( parameter.toSUB());//and( 0xff )); // break; default: //TODO keep? throw new IllegalArgumentException(parameter.name()); } //return 0; }
public static PARAM_N toEnum(int n) { for (PARAM_N param: values()) { if (param._x == n) { return param; } } throw new IllegalArgumentException("n = " + n); } }
public double dJointGetPUParam( PARAM_N parameter ) { switch ( parameter.toGROUP() )//and( 0xff00 )) { case dParamGroup1: return limot1.get( parameter.toSUB());// ); // break; case dParamGroup2: return limot2.get( parameter.toSUB());//and( 0xff )); // break; case dParamGroup3: return limotP.get( parameter.toSUB());//and( 0xff )); // break; default: //TODO keep? throw new IllegalArgumentException(parameter.name()); } //return 0; }
public void dJointSetPUParam( PARAM_N parameter, double value ) { switch ( parameter.toGROUP()) //.and( 0xff00 )) { case dParamGroup1: limot1.set( parameter.toSUB(), value ); break; case dParamGroup2: limot2.set( parameter.toSUB(), value );//.and( 0xff), value ); break; case dParamGroup3: limotP.set( parameter.toSUB(), value );//.and( 0xff ), value ); break; default: //TODO TZ remove throw new IllegalArgumentException(parameter.name()); } }
/** * Set joint parameter. * * <p>NOTE: parameterX where X equal 2 refer to parameter for second axis of the * universal articulation * <p>NOTE: parameterX where X equal 3 refer to parameter for prismatic * articulation * @param j j * @param parameter p * @param value v */ //ODE_API public static void dJointSetPUParam (DPUJoint j, int parameter, double value) { j.setParam(PARAM_N.toEnum(parameter), value); }
public void dJointSetPUParam( PARAM_N parameter, double value ) { switch ( parameter.toGROUP()) //.and( 0xff00 )) { case dParamGroup1: limot1.set( parameter.toSUB(), value ); break; case dParamGroup2: limot2.set( parameter.toSUB(), value );//.and( 0xff), value ); break; case dParamGroup3: limotP.set( parameter.toSUB(), value );//.and( 0xff ), value ); break; default: //TODO TZ remove throw new IllegalArgumentException(parameter.name()); } }
public void dJointSetHinge2Param( PARAM_N parameter, double value ) { //if ( parameter.and(0xff00).eq(0x100) ) if (parameter.isGroup2()) { limot2.set( parameter.toSUB(), value ); } else { if ( parameter.toSUB() == PARAM.dParamSuspensionERP ) susp_erp = value; else if ( parameter.toSUB() == PARAM.dParamSuspensionCFM ) susp_cfm = value; else limot1.set( parameter.toSUB(), value ); } }
/** * Set joint parameter. * * <p>NOTE: parameterX where X equal 2 refer to parameter for second axis of the * universal articulation * <p>NOTE: parameterX where X equal 3 refer to parameter for prismatic * articulation * @param j j * @param parameter p * @param value v */ //ODE_API public static void dJointSetPUParam (DPUJoint j, int parameter, double value) { j.setParam(PARAM_N.toEnum(parameter), value); }
double dJointGetHingeParam( PARAM_N parameter ) { return limot.get( parameter.toSUB() ); }
public void dJointSetHingeParam( PARAM_N parameter, double value ) { limot.set( parameter.toSUB(), value ); }
public void dJointSetHinge2Param( PARAM_N parameter, double value ) { //if ( parameter.and(0xff00).eq(0x100) ) if (parameter.isGroup2()) { limot2.set( parameter.toSUB(), value ); } else { if ( parameter.toSUB() == PARAM.dParamSuspensionERP ) susp_erp = value; else if ( parameter.toSUB() == PARAM.dParamSuspensionCFM ) susp_cfm = value; else limot1.set( parameter.toSUB(), value ); } }
private double dJointGetHinge2Param( PARAM_N parameter ) { if ( parameter.isGroup2())//and(0xff00).eq(0x100) ) { return limot2.get( parameter.toSUB()); } else { if ( parameter.toSUB() == PARAM.dParamSuspensionERP ) return susp_erp; else if ( parameter.toSUB() == PARAM.dParamSuspensionCFM ) return susp_cfm; else return limot1.get( parameter.toSUB() ); } }
/** * Get joint parameter. * @param j j * @param parameter p * @return r */ //ODE_API public static double dJointGetPistonParam (DPistonJoint j, int parameter) { return j.getParam(PARAM_N.toEnum(parameter)); }
/** * Get joint parameter. * @param j j * @param parameter p * @return r */ //ODE_API public static double dJointGetPUParam (DPUJoint j, int parameter) { return j.getParam(PARAM_N.toEnum(parameter)); }
/** * Get joint parameter. * @param j j * @param parameter p * @return r */ //ODE_API public static double dJointGetHinge2Param (DHinge2Joint j, int parameter) { return j.getParam(PARAM_N.toEnum(parameter)); }
/** * Get joint parameter * @param j j * @param parameter p * @return r */ //ODE_API public static double dJointGetHingeParam (DHingeJoint j, int parameter) { return j.getParam(PARAM_N.toEnum(parameter)); }
/** * Set joint parameter. * @param j j * @param parameter p * @param value v */ //ODE_API public static void dJointSetAMotorParam (DAMotorJoint j, int parameter, double value) { j.setParam(PARAM_N.toEnum(parameter), value); }
/** * Set joint parameter. * * <p>NOTE: parameterX where X equal 2 refer to parameter for the rotoide articulation * @param j j * @param parameter p * @param value v */ //ODE_API public static void dJointSetPRParam (DPRJoint j, int parameter, double value) { j.setParam(PARAM_N.toEnum(parameter), value); }
public void dJointSetPlane2DXParam( PARAM_N parameter, double value ) { motor_x.set( parameter.toSUB(), value ); }