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######################################################################
# Python Open Dynamics Engine Wrapper
# Copyright (C) 2004 PyODE developers (see file AUTHORS)
# All rights reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of EITHER:
# (1) The GNU Lesser General Public License as published by the Free
# Software Foundation; either version 2.1 of the License, or (at
# your option) any later version. The text of the GNU Lesser
# General Public License is included with this library in the
# file LICENSE.
# (2) The BSD-style license that is included with this library in
# the file LICENSE-BSD.
#
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
# LICENSE and LICENSE-BSD for more details.
######################################################################
# For every joint type there is a separate class that wraps that joint.
# These classes are derived from the base class "Joint" that contains
# all the common stuff (including destruction).
# The ODE joint is created in the constructor and destroyed in the destructor.
# So it's the respective Python wrapper class that has ownership of the
# ODE joint. If joint groups are used it can happen that an ODE joint gets
# destroyed outside of its Python wrapper (whenever you empty the group).
# In such cases the Python wrapper has to be notified so that it dismisses
# its pointer. This is done by calling _destroyed() on the respective
# Python wrapper (which is done by the JointGroup wrapper).
######################################################################
# JointGroup
cdef class JointGroup:
"""Joint group.
Constructor::
JointGroup()
"""
# JointGroup ID
cdef dJointGroupID gid
# A list of Python joints that were added to the group
cdef object jointlist
def __new__(self):
self.gid = dJointGroupCreate(0)
def __init__(self):
self.jointlist = []
def __dealloc__(self):
if self.gid!=NULL:
for j in self.jointlist:
j._destroyed()
dJointGroupDestroy(self.gid)
# empty
def empty(self):
"""empty()
Destroy all joints in the group.
"""
dJointGroupEmpty(self.gid)
for j in self.jointlist:
j._destroyed()
self.jointlist = []
def _addjoint(self, j):
"""_addjoint(j)
Add a joint to the group. This is an internal method that is
called by the joints. The group has to know the Python
wrappers because it has to notify them when the group is
emptied (so that the ODE joints won't get destroyed
twice). The notification is done by calling _destroyed() on
the Python joints.
@param j: The joint to add
@type j: Joint
"""
self.jointlist.append(j)
######################################################################
# Joint
cdef class Joint:
"""Base class for all joint classes."""
# Joint id as returned by dJointCreateXxx()
cdef dJointID jid
# A reference to the world so that the world won't be destroyed while
# there are still joints using it.
cdef object world
# The feedback buffer
cdef dJointFeedback* feedback
cdef object body1
cdef object body2
# A dictionary with user attributes
# (set via __getattr__ and __setattr__)
cdef object userattribs
def __new__(self, *a, **kw):
self.jid = NULL
self.world = None
self.feedback = NULL
self.body1 = None
self.body2 = None
self.userattribs = {}
def __init__(self, *a, **kw):
raise NotImplementedError, "The Joint base class can't be used directly."
def __dealloc__(self):
self.setFeedback(False)
if self.jid!=NULL:
dJointDestroy(self.jid)
def __getattr__(self, name):
try:
return self.userattribs[name]
except:
raise AttributeError, "Joint object has no attribute '%s'"%name
def __setattr__(self, name, value):
self.userattribs[name] = value
def __delattr__(self, name):
try:
del self.userattribs[name]
except:
raise AttributeError, "Joint object has no attribute '%s'"%name
# _destroyed
def _destroyed(self):
"""Notify the joint object about an external destruction of the ODE joint.
This method has to be called when the underlying ODE object
was destroyed by someone else (e.g. by a joint group). The Python
wrapper will then refrain from destroying it again.
"""
self.jid = NULL
# attach
def attach(self, Body body1, Body body2):
"""attach(body1, body2)
Attach the joint to some new bodies. A body can be attached
to the environment by passing None as second body.
@param body1: First body
@param body2: Second body
@type body1: Body
@type body2: Body
"""
cdef dBodyID id1, id2
if body1==None:
id1 = NULL
else:
id1 = body1.bid
if body2==None:
id2 = NULL
else:
id2 = body2.bid
self.body1 = body1
self.body2 = body2
dJointAttach(self.jid, id1, id2)
# getBody
def getBody(self, index):
"""getBody(index) -> Body
Return the bodies that this joint connects. If index is 0 the
"first" body will be returned, corresponding to the body1
argument of the attach() method. If index is 1 the "second" body
will be returned, corresponding to the body2 argument of the
attach() method.
@param index: Bodx index (0 or 1).
@type index: int
"""
if (index == 0):
return self.body1
elif (index == 1):
return self.body2
else:
raise IndexError()
# setFeedback
def setFeedback(self, flag=1):
"""setFeedback(flag=True)
Create a feedback buffer. If flag is True then a buffer is
allocated and the forces/torques applied by the joint can
be read using the getFeedback() method. If flag is False the
buffer is released.
@param flag: Specifies whether a buffer should be created or released
@type flag: bool
"""
if flag:
# Was there already a buffer allocated? then we're finished
if self.feedback!=NULL:
return
# Allocate a buffer and pass it to ODE
self.feedback = <dJointFeedback*>malloc(sizeof(dJointFeedback))
if self.feedback==NULL:
raise MemoryError("can't allocate feedback buffer")
dJointSetFeedback(self.jid, self.feedback)
else:
if self.feedback!=NULL:
# Free a previously allocated buffer
dJointSetFeedback(self.jid, NULL)
free(self.feedback)
self.feedback = NULL
# getFeedback
def getFeedback(self):
"""getFeedback() -> (force1, torque1, force2, torque2)
Get the forces/torques applied by the joint. If feedback is
activated (i.e. setFeedback(True) was called) then this method
returns a tuple (force1, torque1, force2, torque2) with the
forces and torques applied to body 1 and body 2. The
forces/torques are given as 3-tuples.
If feedback is deactivated then the method always returns None.
"""
cdef dJointFeedback* fb
fb = dJointGetFeedback(self.jid)
if (fb==NULL):
return None
f1 = (fb.f1[0], fb.f1[1], fb.f1[2])
t1 = (fb.t1[0], fb.t1[1], fb.t1[2])
f2 = (fb.f2[0], fb.f2[1], fb.f2[2])
t2 = (fb.t2[0], fb.t2[1], fb.t2[2])
return (f1,t1,f2,t2)
######################################################################
# BallJoint
cdef class BallJoint(Joint):
"""Ball joint.
Constructor::
BallJoint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateBall(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setAnchor
def setAnchor(self, pos):
"""setAnchor(pos)
Set the joint anchor point which must be specified in world
coordinates.
@param pos: Anchor position
@type pos: 3-sequence of floats
"""
dJointSetBallAnchor(self.jid, pos[0], pos[1], pos[2])
# getAnchor
def getAnchor(self):
"""getAnchor() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This
returns the point on body 1. If the joint is perfectly
satisfied, this will be the same as the point on body 2.
"""
cdef dVector3 p
dJointGetBallAnchor(self.jid, p)
return (p[0],p[1],p[2])
# getAnchor2
def getAnchor2(self):
"""getAnchor2() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This
returns the point on body 2. If the joint is perfectly
satisfied, this will be the same as the point on body 1.
"""
cdef dVector3 p
dJointGetBallAnchor2(self.jid, p)
return (p[0],p[1],p[2])
# setParam
def setParam(self, param, value):
pass
# getParam
def getParam(self, param):
return 0.0
# HingeJoint
cdef class HingeJoint(Joint):
"""Hinge joint.
Constructor::
HingeJoint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateHinge(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setAnchor
def setAnchor(self, pos):
"""setAnchor(pos)
Set the hinge anchor which must be given in world coordinates.
@param pos: Anchor position
@type pos: 3-sequence of floats
"""
dJointSetHingeAnchor(self.jid, pos[0], pos[1], pos[2])
# getAnchor
def getAnchor(self):
"""getAnchor() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This returns
the point on body 1. If the joint is perfectly satisfied, this
will be the same as the point on body 2.
"""
cdef dVector3 p
dJointGetHingeAnchor(self.jid, p)
return (p[0],p[1],p[2])
# getAnchor2
def getAnchor2(self):
"""getAnchor2() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This returns
the point on body 2. If the joint is perfectly satisfied, this
will be the same as the point on body 1.
"""
cdef dVector3 p
dJointGetHingeAnchor2(self.jid, p)
return (p[0],p[1],p[2])
# setAxis
def setAxis(self, axis):
"""setAxis(axis)
Set the hinge axis.
@param axis: Hinge axis
@type axis: 3-sequence of floats
"""
dJointSetHingeAxis(self.jid, axis[0], axis[1], axis[2])
# getAxis
def getAxis(self):
"""getAxis() -> 3-tuple of floats
Get the hinge axis.
"""
cdef dVector3 a
dJointGetHingeAxis(self.jid, a)
return (a[0],a[1],a[2])
# getAngle
def getAngle(self):
"""getAngle() -> float
Get the hinge angle. The angle is measured between the two
bodies, or between the body and the static environment. The
angle will be between -pi..pi.
When the hinge anchor or axis is set, the current position of
the attached bodies is examined and that position will be the
zero angle.
"""
return dJointGetHingeAngle(self.jid)
# getAngleRate
def getAngleRate(self):
"""getAngleRate() -> float
Get the time derivative of the angle.
"""
return dJointGetHingeAngleRate(self.jid)
# addTorque
def addTorque(self, torque):
"""addTorque(torque)
Applies the torque about the hinge axis.
@param torque: Torque magnitude
@type torque: float
"""
dJointAddHingeTorque(self.jid, torque)
# setParam
def setParam(self, param, value):
"""setParam(param, value)
Set limit/motor parameters for the joint.
param is one of ParamLoStop, ParamHiStop, ParamVel, ParamFMax,
ParamFudgeFactor, ParamBounce, ParamCFM, ParamStopERP, ParamStopCFM,
ParamSuspensionERP, ParamSuspensionCFM.
These parameter names can be optionally followed by a digit (2
or 3) to indicate the second or third set of parameters.
@param param: Selects the parameter to set
@param value: Parameter value
@type param: int
@type value: float
"""
dJointSetHingeParam(self.jid, param, value)
# getParam
def getParam(self, param):
"""getParam(param) -> float
Get limit/motor parameters for the joint.
param is one of ParamLoStop, ParamHiStop, ParamVel, ParamFMax,
ParamFudgeFactor, ParamBounce, ParamCFM, ParamStopERP, ParamStopCFM,
ParamSuspensionERP, ParamSuspensionCFM.
These parameter names can be optionally followed by a digit (2
or 3) to indicate the second or third set of parameters.
@param param: Selects the parameter to read
@type param: int
"""
return dJointGetHingeParam(self.jid, param)
# SliderJoint
cdef class SliderJoint(Joint):
"""Slider joint.
Constructor::
SlideJoint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateSlider(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setAxis
def setAxis(self, axis):
"""setAxis(axis)
Set the slider axis parameter.
@param axis: Slider axis
@type axis: 3-sequence of floats
"""
dJointSetSliderAxis(self.jid, axis[0], axis[1], axis[2])
# getAxis
def getAxis(self):
"""getAxis() -> 3-tuple of floats
Get the slider axis parameter.
"""
cdef dVector3 a
dJointGetSliderAxis(self.jid, a)
return (a[0],a[1],a[2])
# getPosition
def getPosition(self):
"""getPosition() -> float
Get the slider linear position (i.e. the slider's "extension").
When the axis is set, the current position of the attached
bodies is examined and that position will be the zero
position.
"""
return dJointGetSliderPosition(self.jid)
# getPositionRate
def getPositionRate(self):
"""getPositionRate() -> float
Get the time derivative of the position.
"""
return dJointGetSliderPositionRate(self.jid)
# addForce
def addForce(self, force):
"""addForce(force)
Applies the given force in the slider's direction.
@param force: Force magnitude
@type force: float
"""
dJointAddSliderForce(self.jid, force)
# setParam
def setParam(self, param, value):
dJointSetSliderParam(self.jid, param, value)
# getParam
def getParam(self, param):
return dJointGetSliderParam(self.jid, param)
# UniversalJoint
cdef class UniversalJoint(Joint):
"""Universal joint.
Constructor::
UniversalJoint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateUniversal(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setAnchor
def setAnchor(self, pos):
"""setAnchor(pos)
Set the universal anchor.
@param pos: Anchor position
@type pos: 3-sequence of floats
"""
dJointSetUniversalAnchor(self.jid, pos[0], pos[1], pos[2])
# getAnchor
def getAnchor(self):
"""getAnchor() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This returns
the point on body 1. If the joint is perfectly satisfied, this
will be the same as the point on body 2.
"""
cdef dVector3 p
dJointGetUniversalAnchor(self.jid, p)
return (p[0],p[1],p[2])
# getAnchor2
def getAnchor2(self):
"""getAnchor2() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This returns
the point on body 2. If the joint is perfectly satisfied, this
will be the same as the point on body 1.
"""
cdef dVector3 p
dJointGetUniversalAnchor2(self.jid, p)
return (p[0],p[1],p[2])
# setAxis1
def setAxis1(self, axis):
"""setAxis1(axis)
Set the first universal axis. Axis 1 and axis 2 should be
perpendicular to each other.
@param axis: Joint axis
@type axis: 3-sequence of floats
"""
dJointSetUniversalAxis1(self.jid, axis[0], axis[1], axis[2])
# getAxis1
def getAxis1(self):
"""getAxis1() -> 3-tuple of floats
Get the first univeral axis.
"""
cdef dVector3 a
dJointGetUniversalAxis1(self.jid, a)
return (a[0],a[1],a[2])
# setAxis2
def setAxis2(self, axis):
"""setAxis2(axis)
Set the second universal axis. Axis 1 and axis 2 should be
perpendicular to each other.
@param axis: Joint axis
@type axis: 3-sequence of floats
"""
dJointSetUniversalAxis2(self.jid, axis[0], axis[1], axis[2])
# getAxis2
def getAxis2(self):
"""getAxis2() -> 3-tuple of floats
Get the second univeral axis.
"""
cdef dVector3 a
dJointGetUniversalAxis2(self.jid, a)
return (a[0],a[1],a[2])
# addTorques
def addTorques(self, torque1, torque2):
"""addTorques(torque1, torque2)
Applies torque1 about axis 1, and torque2 about axis 2.
@param torque1: Torque 1 magnitude
@param torque2: Torque 2 magnitude
@type torque1: float
@type torque2: float
"""
dJointAddUniversalTorques(self.jid, torque1, torque2)
# setParam
def setParam(self, param, value):
dJointSetUniversalParam(self.jid, param, value)
# getParam
def getParam(self, param):
return dJointGetUniversalParam(self.jid, param)
# Hinge2Joint
cdef class Hinge2Joint(Joint):
"""Hinge2 joint.
Constructor::
Hinge2Joint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateHinge2(world.wid, jgid)
def __init__(self, World world, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setAnchor
def setAnchor(self, pos):
"""setAnchor(pos)
Set the hinge-2 anchor.
@param pos: Anchor position
@type pos: 3-sequence of floats
"""
dJointSetHinge2Anchor(self.jid, pos[0], pos[1], pos[2])
# getAnchor
def getAnchor(self):
"""getAnchor() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This returns
the point on body 1. If the joint is perfectly satisfied, this
will be the same as the point on body 2.
"""
cdef dVector3 p
dJointGetHinge2Anchor(self.jid, p)
return (p[0],p[1],p[2])
# getAnchor2
def getAnchor2(self):
"""getAnchor2() -> 3-tuple of floats
Get the joint anchor point, in world coordinates. This returns
the point on body 2. If the joint is perfectly satisfied, this
will be the same as the point on body 1.
"""
cdef dVector3 p
dJointGetHinge2Anchor2(self.jid, p)
return (p[0],p[1],p[2])
# setAxis1
def setAxis1(self, axis):
"""setAxis1(axis)
Set the first hinge-2 axis. Axis 1 and axis 2 must not lie
along the same line.
@param axis: Joint axis
@type axis: 3-sequence of floats
"""
dJointSetHinge2Axis1(self.jid, axis[0], axis[1], axis[2])
# getAxis1
def getAxis1(self):
"""getAxis1() -> 3-tuple of floats
Get the first hinge-2 axis.
"""
cdef dVector3 a
dJointGetHinge2Axis1(self.jid, a)
return (a[0],a[1],a[2])
# setAxis2
def setAxis2(self, axis):
"""setAxis2(axis)
Set the second hinge-2 axis. Axis 1 and axis 2 must not lie
along the same line.
@param axis: Joint axis
@type axis: 3-sequence of floats
"""
dJointSetHinge2Axis2(self.jid, axis[0], axis[1], axis[2])
# getAxis2
def getAxis2(self):
"""getAxis2() -> 3-tuple of floats
Get the second hinge-2 axis.
"""
cdef dVector3 a
dJointGetHinge2Axis2(self.jid, a)
return (a[0],a[1],a[2])
# getAngle
def getAngle1(self):
"""getAngle1() -> float
Get the first hinge-2 angle (around axis 1).
When the anchor or axis is set, the current position of the
attached bodies is examined and that position will be the zero
angle.
"""
return dJointGetHinge2Angle1(self.jid)
# getAngle1Rate
def getAngle1Rate(self):
"""getAngle1Rate() -> float
Get the time derivative of the first hinge-2 angle.
"""
return dJointGetHinge2Angle1Rate(self.jid)
# getAngle2Rate
def getAngle2Rate(self):
"""getAngle2Rate() -> float
Get the time derivative of the second hinge-2 angle.
"""
return dJointGetHinge2Angle2Rate(self.jid)
# addTorques
def addTorques(self, torque1, torque2):
"""addTorques(torque1, torque2)
Applies torque1 about axis 1, and torque2 about axis 2.
@param torque1: Torque 1 magnitude
@param torque2: Torque 2 magnitude
@type torque1: float
@type torque2: float
"""
dJointAddHinge2Torques(self.jid, torque1, torque2)
# setParam
def setParam(self, param, value):
dJointSetHinge2Param(self.jid, param, value)
# getParam
def getParam(self, param):
return dJointGetHinge2Param(self.jid, param)
# FixedJoint
cdef class FixedJoint(Joint):
"""Fixed joint.
Constructor::
FixedJoint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateFixed(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setFixed
def setFixed(self):
"""setFixed()
Call this on the fixed joint after it has been attached to
remember the current desired relative offset and desired
relative rotation between the bodies.
"""
dJointSetFixed(self.jid)
# ContactJoint
cdef class ContactJoint(Joint):
"""Contact joint.
Constructor::
ContactJoint(world, jointgroup, contact)
"""
def __new__(self, World world not None, jointgroup, Contact contact):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreateContact(world.wid, jgid, &contact._contact)
def __init__(self, World world not None, jointgroup, Contact contact):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# AMotor
cdef class AMotor(Joint):
"""AMotor joint.
Constructor::
AMotor(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid = NULL
if jointgroup!=None:
jg = jointgroup
jgid = jg.gid
self.jid = dJointCreateAMotor(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setMode
def setMode(self, mode):
"""setMode(mode)
Set the angular motor mode. mode must be either AMotorUser or
AMotorEuler.
@param mode: Angular motor mode
@type mode: int
"""
dJointSetAMotorMode(self.jid, mode)
# getMode
def getMode(self):
"""getMode()
Return the angular motor mode (AMotorUser or AMotorEuler).
"""
return dJointGetAMotorMode(self.jid)
# setNumAxes
def setNumAxes(self, int num):
"""setNumAxes(num)
Set the number of angular axes that will be controlled by the AMotor.
num may be in the range from 0 to 3.
@param num: Number of axes (0-3)
@type num: int
"""
dJointSetAMotorNumAxes(self.jid, num)
# getNumAxes
def getNumAxes(self):
"""getNumAxes() -> int
Get the number of angular axes that are controlled by the AMotor.
"""
return dJointGetAMotorNumAxes(self.jid)
# setAxis
def setAxis(self, int anum, int rel, axis):
"""setAxis(anum, rel, axis)
Set an AMotor axis.
The anum argument selects the axis to change (0,1 or 2).
Each axis can have one of three "relative orientation" modes,
selected by rel:
0: The axis is anchored to the global frame.
1: The axis is anchored to the first body.
2: The axis is anchored to the second body.
The axis vector is always specified in global coordinates
regardless of the setting of rel.
@param anum: Axis number
@param rel: Relative orientation mode
@param axis: Axis
@type anum: int
@type rel: int
@type axis: 3-sequence of floats
"""
dJointSetAMotorAxis(self.jid, anum, rel, axis[0], axis[1], axis[2])
# getAxis
def getAxis(self, int anum):
"""getAxis(anum)
Get an AMotor axis.
@param anum: Axis index (0-2)
@type anum: int
"""
cdef dVector3 a
dJointGetAMotorAxis(self.jid, anum, a)
return (a[0],a[1],a[2])
# getAxisRel
def getAxisRel(self, int anum):
"""getAxisRel(anum) -> int
Get the relative mode of an axis.
@param anum: Axis index (0-2)
@type anum: int
"""
return dJointGetAMotorAxisRel(self.jid, anum)
# setAngle
def setAngle(self, int anum, angle):
"""setAngle(anum, angle)
Tell the AMotor what the current angle is along axis anum.
@param anum: Axis index
@param angle: Angle
@type anum: int
@type angle: float
"""
dJointSetAMotorAngle(self.jid, anum, angle)
# getAngle
def getAngle(self, int anum):
"""getAngle(anum) -> float
Return the current angle for axis anum.
@param anum: Axis index
@type anum: int
"""
return dJointGetAMotorAngle(self.jid, anum)
# getAngleRate
def getAngleRate(self, int anum):
"""getAngleRate(anum) -> float
Return the current angle rate for axis anum.
@param anum: Axis index
@type anum: int
"""
return dJointGetAMotorAngleRate(self.jid, anum)
# addTorques
def addTorques(self, torque0, torque1, torque2):
"""addTorques(torque0, torque1, torque2)
Applies torques about the AMotor's axes.
@param torque0: Torque 0 magnitude
@param torque1: Torque 1 magnitude
@param torque2: Torque 2 magnitude
@type torque0: float
@type torque1: float
@type torque2: float
"""
dJointAddAMotorTorques(self.jid, torque0, torque1, torque2)
# setParam
def setParam(self, param, value):
dJointSetAMotorParam(self.jid, param, value)
# getParam
def getParam(self, param):
return dJointGetAMotorParam(self.jid, param)
# LMotor
cdef class LMotor(Joint):
"""LMotor joint.
Constructor::
LMotor(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid = NULL
if jointgroup!=None:
jg = jointgroup
jgid = jg.gid
self.jid = dJointCreateLMotor(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
# setNumAxes
def setNumAxes(self, int num):
"""setNumAxes(num)
Set the number of angular axes that will be controlled by the LMotor.
num may be in the range from 0 to 3.
@param num: Number of axes (0-3)
@type num: int
"""
dJointSetLMotorNumAxes(self.jid, num)
# getNumAxes
def getNumAxes(self):
"""getNumAxes() -> int
Get the number of angular axes that are controlled by the LMotor.
"""
return dJointGetLMotorNumAxes(self.jid)
# setAxis
def setAxis(self, int anum, int rel, axis):
"""setAxis(anum, rel, axis)
Set an LMotor axis.
The anum argument selects the axis to change (0,1 or 2).
Each axis can have one of three "relative orientation" modes,
selected by rel:
0: The axis is anchored to the global frame.
1: The axis is anchored to the first body.
2: The axis is anchored to the second body.
@param anum: Axis number
@param rel: Relative orientation mode
@param axis: Axis
@type anum: int
@type rel: int
@type axis: 3-sequence of floats
"""
dJointSetLMotorAxis(self.jid, anum, rel, axis[0], axis[1], axis[2])
# getAxis
def getAxis(self, int anum):
"""getAxis(anum)
Get an LMotor axis.
@param anum: Axis index (0-2)
@type anum: int
"""
cdef dVector3 a
dJointGetLMotorAxis(self.jid, anum, a)
return (a[0],a[1],a[2])
# setParam
def setParam(self, param, value):
dJointSetLMotorParam(self.jid, param, value)
# getParam
def getParam(self, param):
return dJointGetLMotorParam(self.jid, param)
# Plane2DJoint
cdef class Plane2DJoint(Joint):
"""Plane-2D Joint.
Constructor::
Plane2DJoint(world, jointgroup=None)
"""
def __new__(self, World world not None, jointgroup=None):
cdef JointGroup jg
cdef dJointGroupID jgid
jgid=NULL
if jointgroup!=None:
jg=jointgroup
jgid=jg.gid
self.jid = dJointCreatePlane2D(world.wid, jgid)
def __init__(self, World world not None, jointgroup=None):
self.world = world
if jointgroup!=None:
jointgroup._addjoint(self)
def setXParam(self, param, value):
dJointSetPlane2DXParam(self.jid, param, value)
def setYParam(self, param, value):
dJointSetPlane2DYParam(self.jid, param, value)
def setAngleParam(self, param, value):
dJointSetPlane2DAngleParam(self.jid, param, value)
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