public class RollPitchJoint extends UniversalJoint
UniversalJoint, except that the roll-pitch angles describe the rotation of
D with respect to C, instead of C with respect to D.UniversalJoint.AxisSetModelComponent.NavpanelVisibilityDEFAULT_JOINT_RADIUS, myProps, PITCH_IDX, ROLL_IDXDEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUSdebug, useOldDerivativeMethodenforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNamesCOPY_REFERENCES, REST_POSITIONTG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATINGTRANSPARENT, TWO_DIMENSIONAL| Constructor and Description |
|---|
RollPitchJoint()
Creates a
RollPitchJoint which is not attached to any bodies. |
RollPitchJoint(ConnectableBody bodyA,
ConnectableBody bodyB,
RigidTransform3d TDW)
Creates a
RollPitchJoint connecting two connectable bodies,
bodyA and bodyB. |
RollPitchJoint(ConnectableBody bodyA,
ConnectableBody bodyB,
RigidTransform3d TCW,
RigidTransform3d TDW)
Creates a
RollPitchJoint connecting two connectable bodies,
bodyA and bodyB. |
RollPitchJoint(ConnectableBody bodyA,
RigidTransform3d TDW)
Creates a
RollPitchJoint connecting a single connectable body,
bodyA, to ground. |
RollPitchJoint(RigidBody bodyA,
RigidTransform3d TCA,
RigidBody bodyB,
RigidTransform3d TDB)
Creates a
RollPitchJoint connecting two rigid bodies, bodyA and bodyB. |
getAllPropertyInfo, getAxes, getJointRadius, getMaxPitch, getMaxRoll, getMinPitch, getMinRoll, getPitch, getPitchRange, getRoll, getRollPitchRad, getRollRange, isPitchLocked, isRollLocked, render, setJointRadius, setMaxPitch, setMaxRoll, setMinPitch, setMinRoll, setPitch, setPitchLocked, setPitchRange, setPitchRange, setRoll, setRollLocked, setRollPitchRad, setRollRange, setRollRange, updateBoundsaddCoordinateSolveBlocks, addCoordinateVelJacobian, applyCoordinateForce, coordinatesToTCD, getCoordinate, getCoordinateDeg, getCoordinateIndex, getCoordinateMotionType, getCoordinateName, getCoordinateRange, getCoordinateRangeDeg, getCoordinates, getCoordinateSpeed, getCoordinateValue, getMaxCoordinate, getMaxCoordinateDeg, getMinCoordinate, getMinCoordinateDeg, getPosition, getShaftLength, getShaftRadius, getStoredCoordinates, getStoredTCD, getStoredTCD, isCoordinateLocked, numCoordinates, setCoordinate, setCoordinateDeg, setCoordinateLocked, setCoordinateName, setCoordinateRange, setCoordinateRangeDeg, setCoordinates, setShaftLength, setShaftRadiusaddBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, copy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCoupling, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRenderFrame, getRotaryCompliance, getRotaryLimitTol, getRotaryLimitTolMode, getState, getStateVersion, getTransformDGeometryOnly, getTransformPositionOnly, getUnilateralForceInA, getUnilateralForceInA, getUnilateralForceInB, getUnilateralForceInB, getUnilateralForceInC, getUnilateralForceInC, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, isActive, isConnectedToBodies, isDuplicatable, isEnabled, isNotAttached, maxFrictionConstraintSets, numBilateralConstraints, numConstraints, numEngagedUnilateralConstraints, numUnilateralConstraints, prerender, printConnectedBodies, printConstraintInfo, scaleDistance, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateConstraints, zeroForcescreateRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderPropscheckFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, writeequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitcopy, getCopyReferences, isDuplicatableconnectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferencesgetPropertygetChildren, hasChildrenpostscanisWritable, writetransformPriorityadvanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarStatepublic RollPitchJoint()
RollPitchJoint which is not attached to any bodies. It
can subsequently be connected using one of the setBodies methods.public RollPitchJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB)
RollPitchJoint connecting two rigid bodies, bodyA and bodyB. If A and B describe the coordinate frames of
bodyA and bodyB, then TCA and TDB give
the (fixed) transforms from the joint's C and D frames to A and B,
respectively. Since C and D are specified independently, the joint
transform TCD may not necessarily be initialized to the identity.
Specifying bodyB as null will cause bodyA to
be connected to ground, with TDB then being the same as TDW.
bodyA - rigid body ATCA - transform from joint frame C to body frame AbodyB - rigid body B (or null)TDB - transform from joint frame D to body frame Bpublic RollPitchJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW)
RollPitchJoint connecting two connectable bodies,
bodyA and bodyB. The joint frames C and D are located
independently with respect to world coordinates by TCW and TDW.
Specifying bodyB as null will cause bodyA to
be connected to ground.
bodyA - body AbodyB - body B (or null)TCW - initial transform from joint frame C to worldTDW - initial transform from joint frame D to worldpublic RollPitchJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW)
RollPitchJoint connecting two connectable bodies,
bodyA and bodyB. The joint frames D and C are assumed to
be initially coincident, so that roll and pitch will have
initial values of 0. D (and C) is located by TDW, which gives the
transform from D to world coordinates.bodyA - body AbodyB - body BTDW - initial transform from joint frames D and C to worldpublic RollPitchJoint(ConnectableBody bodyA, RigidTransform3d TDW)
RollPitchJoint connecting a single connectable body,
bodyA, to ground. The joint frames D and C are assumed to be
initially coincident, so that roll and pitch will have
initial values of 0. D (and C) is located by TDW, which gives the
transform from D to world coordinates.bodyA - body ATDW - initial transform from joint frames D and C to world