/** * Set the AMotor axes. * @param j j * @param anum selects the axis to change (0,1 or 2). * @param rel Each axis can have one of three ``relative orientation'' modes * <ul> * <li> 0: The axis is anchored to the global frame. * <li> 1: The axis is anchored to the first body. * <li> 2: The axis is anchored to the second body. * </ul> * <p>REMARK: The axis vector is always specified in global coordinates * regardless of the setting of rel. * @param x x * @param y y * @param z z */ //ODE_API public static void dJointSetLMotorAxis (DLMotorJoint j, int anum, int rel, double x, double y, double z) { j.setAxis(anum, rel, x, y, z); }
/** * Set the number of axes that will be controlled by the LMotor. * @param j j * @param num can range from 0 (which effectively deactivates the joint) to 3. */ //ODE_API public static void dJointSetLMotorNumAxes (DLMotorJoint j, int num) { j.setNumAxes(num); }
/** * Get axis. * @param j j * @param anum a * @param result r */ //ODE_API public static void dJointGetLMotorAxis (DLMotorJoint j, int anum, DVector3 result) { j.getAxis(anum, result); }
lmotor[0].attach (body[0],body[1]); lmotor[1] = OdeHelper.createLMotorJoint (world,null); lmotor[1].attach (body[0],null); amotor[0] = OdeHelper.createAMotorJoint (world,null); amotor[0].attach (body[0],body[1]); amotor[i].setParamVel3(0); lmotor[i].setNumAxes(3); lmotor[i].setAxis(0,1,1,0,0); lmotor[i].setAxis(1,1,0,1,0); lmotor[i].setAxis(2,1,0,0,1); lmotor[i].setParamFMax(0.0001); lmotor[i].setParamFMax2(0.0001); lmotor[i].setParamFMax3(0.0001);
/** * Set joint parameter. * @param j j * @param parameter p * @param value v */ //ODE_API public static void dJointSetLMotorParam (DLMotorJoint j, int parameter, double value) { j.setParam(PARAM_N.toEnum(parameter), value); }
/** * Get nr of axes. * @param j j * @return r */ //ODE_API public static int dJointGetLMotorNumAxes (DLMotorJoint j) { return j.getNumAxes(); }
/** * Get joint parameter. * @param j j * @param parameter p * @return r */ //ODE_API public static double dJointGetLMotorParam (DLMotorJoint 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 dJointSetLMotorParam (DLMotorJoint j, int parameter, double value) { j.setParam(PARAM_N.toEnum(parameter), value); }
/** * Get nr of axes. * @param j j * @return r */ //ODE_API public static int dJointGetLMotorNumAxes (DLMotorJoint j) { return j.getNumAxes(); }
/** * Get joint parameter. * @param j j * @param parameter p * @return r */ //ODE_API public static double dJointGetLMotorParam (DLMotorJoint j, int parameter) { return j.getParam(PARAM_N.toEnum(parameter)); }
/** * Set the number of axes that will be controlled by the LMotor. * @param j j * @param num can range from 0 (which effectively deactivates the joint) to 3. */ //ODE_API public static void dJointSetLMotorNumAxes (DLMotorJoint j, int num) { j.setNumAxes(num); }
/** * Set the AMotor axes. * @param j j * @param anum selects the axis to change (0,1 or 2). * @param rel Each axis can have one of three ``relative orientation'' modes * <ul> * <li> 0: The axis is anchored to the global frame. * <li> 1: The axis is anchored to the first body. * <li> 2: The axis is anchored to the second body. * </ul> * <p>REMARK: The axis vector is always specified in global coordinates * regardless of the setting of rel. * @param x x * @param y y * @param z z */ //ODE_API public static void dJointSetLMotorAxis (DLMotorJoint j, int anum, int rel, double x, double y, double z) { j.setAxis(anum, rel, x, y, z); }
/** * Get axis. * @param j j * @param anum a * @param result r */ //ODE_API public static void dJointGetLMotorAxis (DLMotorJoint j, int anum, DVector3 result) { j.getAxis(anum, result); }