Joints

Functions
dJointID	dJointCreateBall (dWorldID, dJointGroupID)
	Create a new joint of the ball type. More...
dJointID	dJointCreateHinge (dWorldID, dJointGroupID)
	Create a new joint of the hinge type. More...
dJointID	dJointCreateSlider (dWorldID, dJointGroupID)
	Create a new joint of the slider type. More...
dJointID	dJointCreateContact (dWorldID, dJointGroupID, const dContact *)
	Create a new joint of the contact type. More...
dJointID	dJointCreateHinge2 (dWorldID, dJointGroupID)
	Create a new joint of the hinge2 type. More...
dJointID	dJointCreateUniversal (dWorldID, dJointGroupID)
	Create a new joint of the universal type. More...
dJointID	dJointCreatePR (dWorldID, dJointGroupID)
	Create a new joint of the PR (Prismatic and Rotoide) type. More...
dJointID	dJointCreatePU (dWorldID, dJointGroupID)
	Create a new joint of the PU (Prismatic and Universal) type. More...
dJointID	dJointCreatePiston (dWorldID, dJointGroupID)
	Create a new joint of the Piston type. More...
dJointID	dJointCreateFixed (dWorldID, dJointGroupID)
	Create a new joint of the fixed type. More...
dJointID	dJointCreateAMotor (dWorldID, dJointGroupID)
	Create a new joint of the A-motor type. More...
dJointID	dJointCreateLMotor (dWorldID, dJointGroupID)
	Create a new joint of the L-motor type. More...
dJointID	dJointCreatePlane2D (dWorldID, dJointGroupID)
	Create a new joint of the plane-2d type. More...
dJointID	dJointCreateDBall (dWorldID, dJointGroupID)
	Create a new joint of the double ball type. More...
dJointID	dJointCreateDHinge (dWorldID, dJointGroupID)
	Create a new joint of the double hinge type. More...
dJointID	dJointCreateTransmission (dWorldID, dJointGroupID)
	Create a new joint of the Transmission type. More...
void	dJointDestroy (dJointID)
	Destroy a joint.disconnects it from its attached bodies and removing it from the world. However, if the joint is a member of a group then this function has no effect - to destroy that joint the group must be emptied or destroyed.
dJointGroupID	dJointGroupCreate (int max_size)
	Create a joint group. More...
void	dJointGroupDestroy (dJointGroupID)
	Destroy a joint group.All joints in the joint group will be destroyed.
void	dJointGroupEmpty (dJointGroupID)
	Empty a joint group.All joints in the joint group will be destroyed, but the joint group itself will not be destroyed.
int	dJointGetNumBodies (dJointID)
	Return the number of bodies attached to the joint.
void	dJointAttach (dJointID, dBodyID body1, dBodyID body2)
	Attach the joint to some new bodies.If the joint is already attached, it will be detached from the old bodies first. To attach this joint to only one body, set body1 or body2 to zero - a zero body refers to the static environment. Setting both bodies to zero puts the joint into "limbo", i.e. it will have no effect on the simulation. More...
void	dJointEnable (dJointID)
	Manually enable a joint. More...
void	dJointDisable (dJointID)
	Manually disable a joint. More...
int	dJointIsEnabled (dJointID)
	Check wether a joint is enabled. More...
void	dJointSetData (dJointID, void *data)
	Set the user-data pointer.
void *	dJointGetData (dJointID)
	Get the user-data pointer.
dJointType	dJointGetType (dJointID)
	Get the type of the joint. More...
dBodyID	dJointGetBody (dJointID, int index)
	Return the bodies that this joint connects. More...
void	dJointSetFeedback (dJointID, dJointFeedback *)
	Sets the datastructure that is to receive the feedback. More...
dJointFeedback *	dJointGetFeedback (dJointID)
	Gets the datastructure that is to receive the feedback.
void	dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z)
	Set the joint anchor point.The joint will try to keep this point on each body together. The input is specified in world coordinates.
void	dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z)
	Set the joint anchor point.
void	dJointSetBallParam (dJointID, int parameter, dReal value)
	Param setting for Ball joints.
void	dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z)
	Set hinge anchor parameter.
void	dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z)
	Set hinge axis.
void	dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle)
	Set the Hinge axis as if the 2 bodies were already at angle appart.This function initialize the Axis and the relative orientation of each body as if body1 was rotated around the axis by the angle value. Ex: More...
void	dJointSetHingeParam (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointAddHingeTorque (dJointID joint, dReal torque)
	Applies the torque about the hinge axis. More...
void	dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z)
	set the joint axis
void	dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az)
void	dJointSetSliderParam (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointAddSliderForce (dJointID joint, dReal force)
	Applies the given force in the slider's direction. More...
void	dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z)
	set anchor
void	dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z)
	set axis
void	dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z)
	set axis
void	dJointSetHinge2Param (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointAddHinge2Torques (dJointID joint, dReal torque1, dReal torque2)
	Applies torque1 about the hinge2's axis 1, torque2 about the hinge2's axis 2. More...
void	dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z)
	set anchor
void	dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z)
	set axis
void	dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2)
	Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.This function initialize the axis1 and the relative orientation of each body as if body1 was rotated around the new axis1 by the offset1 value and as if body2 was rotated around the axis2 by offset2. Ex: More...
void	dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z)
	set axis
void	dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2)
	Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.This function initialize the axis2 and the relative orientation of each body as if body1 was rotated around the axis1 by the offset1 value and as if body2 was rotated around the new axis2 by offset2. Ex: More...
void	dJointSetUniversalParam (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointAddUniversalTorques (dJointID joint, dReal torque1, dReal torque2)
	Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2. More...
void	dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z)
	set anchor
void	dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z)
	set the axis for the prismatic articulation
void	dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z)
	set the axis for the rotoide articulation
void	dJointSetPRParam (dJointID, int parameter, dReal value)
	set joint parameter More...
void	dJointAddPRTorque (dJointID j, dReal torque)
	Applies the torque about the rotoide axis of the PR joint. More...
void	dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z)
	set anchor
ODE_API_DEPRECATED void	dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz)
	set anchor
void	dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz)
	Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex: More...
void	dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z)
	set the axis for the first axis or the universal articulation
void	dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z)
	set the axis for the second axis or the universal articulation
void	dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z)
	set the axis for the prismatic articulation
void	dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z)
	set the axis for the prismatic articulation More...
void	dJointSetPUParam (dJointID, int parameter, dReal value)
	set joint parameter More...
void	dJointAddPUTorque (dJointID j, dReal torque)
	Applies the torque about the rotoide axis of the PU joint. More...
void	dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z)
	set the joint anchor
void	dJointSetPistonAnchorOffset (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz)
	Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex: More...
void	dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z)
	set the joint axis
ODE_API_DEPRECATED void	dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az)
void	dJointSetPistonParam (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointAddPistonForce (dJointID joint, dReal force)
	Applies the given force in the slider's direction. More...
void	dJointSetFixed (dJointID)
	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.
void	dJointSetAMotorNumAxes (dJointID, int num)
	set the nr of axes More...
void	dJointSetAMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
	set axis
void	dJointSetAMotorAngle (dJointID, int anum, dReal angle)
	Tell the AMotor what the current angle is along axis anum. More...
void	dJointSetAMotorParam (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointSetAMotorMode (dJointID, int mode)
	set mode
void	dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3)
	Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2. More...
void	dJointSetLMotorNumAxes (dJointID, int num)
	Set the number of axes that will be controlled by the LMotor. More...
void	dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
	Set the AMotor axes. More...
void	dJointSetLMotorParam (dJointID, int parameter, dReal value)
	set joint parameter
void	dJointSetPlane2DXParam (dJointID, int parameter, dReal value)
void	dJointSetPlane2DYParam (dJointID, int parameter, dReal value)
void	dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value)
dReal	dJointGetBallParam (dJointID, int parameter)
	get joint parameter
void	dJointGetHingeAnchor (dJointID, dVector3 result)
	Get the hinge anchor point, in world coordinates. More...
void	dJointGetHingeAnchor2 (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. More...
void	dJointGetHingeAxis (dJointID, dVector3 result)
	get axis
dReal	dJointGetHingeParam (dJointID, int parameter)
	get joint parameter
dReal	dJointGetHingeAngle (dJointID)
	Get the hinge angle. More...
dReal	dJointGetHingeAngleRate (dJointID)
	Get the hinge angle time derivative.
dReal	dJointGetSliderPosition (dJointID)
	Get the slider linear position (i.e. the slider's extension) More...
dReal	dJointGetSliderPositionRate (dJointID)
	Get the slider linear position's time derivative.
void	dJointGetSliderAxis (dJointID, dVector3 result)
	Get the slider axis.
dReal	dJointGetSliderParam (dJointID, int parameter)
	get joint parameter
void	dJointGetHinge2Anchor (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. More...
void	dJointGetHinge2Anchor2 (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. This returns the point on body 2. If the joint is perfectly satisfied, this will return the same value as dJointGetHinge2Anchor. If not, this value will be slightly different. This can be used, for example, to see how far the joint has come apart.
void	dJointGetHinge2Axis1 (dJointID, dVector3 result)
	Get joint axis.
void	dJointGetHinge2Axis2 (dJointID, dVector3 result)
	Get joint axis.
dReal	dJointGetHinge2Param (dJointID, int parameter)
	get joint parameter
dReal	dJointGetHinge2Angle1 (dJointID)
	Get angle.
dReal	dJointGetHinge2Angle2 (dJointID)
	Get angle.
dReal	dJointGetHinge2Angle1Rate (dJointID)
	Get time derivative of angle.
dReal	dJointGetHinge2Angle2Rate (dJointID)
	Get time derivative of angle.
void	dJointGetUniversalAnchor (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. More...
void	dJointGetUniversalAnchor2 (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. More...
void	dJointGetUniversalAxis1 (dJointID, dVector3 result)
	Get axis.
void	dJointGetUniversalAxis2 (dJointID, dVector3 result)
	Get axis.
dReal	dJointGetUniversalParam (dJointID, int parameter)
	get joint parameter
void	dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2)
	Get both angles at the same time. More...
dReal	dJointGetUniversalAngle1 (dJointID)
	Get angle.
dReal	dJointGetUniversalAngle2 (dJointID)
	Get angle.
dReal	dJointGetUniversalAngle1Rate (dJointID)
	Get time derivative of angle.
dReal	dJointGetUniversalAngle2Rate (dJointID)
	Get time derivative of angle.
void	dJointGetPRAnchor (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. More...
dReal	dJointGetPRPosition (dJointID)
	Get the PR linear position (i.e. the prismatic's extension) More...
dReal	dJointGetPRPositionRate (dJointID)
	Get the PR linear position's time derivative.
dReal	dJointGetPRAngle (dJointID)
	Get the PR angular position (i.e. the twist between the 2 bodies) More...
dReal	dJointGetPRAngleRate (dJointID)
	Get the PR angular position's time derivative.
void	dJointGetPRAxis1 (dJointID, dVector3 result)
	Get the prismatic axis.
void	dJointGetPRAxis2 (dJointID, dVector3 result)
	Get the Rotoide axis.
dReal	dJointGetPRParam (dJointID, int parameter)
	get joint parameter
void	dJointGetPUAnchor (dJointID, dVector3 result)
	Get the joint anchor point, in world coordinates. More...
dReal	dJointGetPUPosition (dJointID)
	Get the PU linear position (i.e. the prismatic's extension) More...
dReal	dJointGetPUPositionRate (dJointID)
	Get the PR linear position's time derivative.
void	dJointGetPUAxis1 (dJointID, dVector3 result)
	Get the first axis of the universal component of the joint.
void	dJointGetPUAxis2 (dJointID, dVector3 result)
	Get the second axis of the Universal component of the joint.
void	dJointGetPUAxis3 (dJointID, dVector3 result)
	Get the prismatic axis.
void	dJointGetPUAxisP (dJointID id, dVector3 result)
	Get the prismatic axis. More...
void	dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2)
	Get both angles at the same time. More...
dReal	dJointGetPUAngle1 (dJointID)
	Get angle.
dReal	dJointGetPUAngle1Rate (dJointID)
	More...
dReal	dJointGetPUAngle2 (dJointID)
	Get angle.
dReal	dJointGetPUAngle2Rate (dJointID)
	More...
dReal	dJointGetPUParam (dJointID, int parameter)
	get joint parameter
dReal	dJointGetPistonPosition (dJointID)
	Get the Piston linear position (i.e. the piston's extension) More...
dReal	dJointGetPistonPositionRate (dJointID)
	Get the piston linear position's time derivative.
dReal	dJointGetPistonAngle (dJointID)
	Get the Piston angular position (i.e. the twist between the 2 bodies) More...
dReal	dJointGetPistonAngleRate (dJointID)
	Get the piston angular position's time derivative.
void	dJointGetPistonAnchor (dJointID, dVector3 result)
	Get the joint anchor. More...
void	dJointGetPistonAnchor2 (dJointID, dVector3 result)
	Get the joint anchor w.r.t. body 2. More...
void	dJointGetPistonAxis (dJointID, dVector3 result)
	Get the prismatic axis (This is also the rotoide axis.
dReal	dJointGetPistonParam (dJointID, int parameter)
	get joint parameter
int	dJointGetAMotorNumAxes (dJointID)
	Get the number of angular axes that will be controlled by the AMotor. More...
void	dJointGetAMotorAxis (dJointID, int anum, dVector3 result)
	Get the AMotor axes. More...
int	dJointGetAMotorAxisRel (dJointID, int anum)
	Get axis. More...
dReal	dJointGetAMotorAngle (dJointID, int anum)
	Get the current angle for axis. More...
dReal	dJointGetAMotorAngleRate (dJointID, int anum)
	Get the current angle rate for axis anum. More...
dReal	dJointGetAMotorParam (dJointID, int parameter)
	get joint parameter
int	dJointGetAMotorMode (dJointID)
	Get the angular motor mode. More...
int	dJointGetLMotorNumAxes (dJointID)
	Get nr of axes.
void	dJointGetLMotorAxis (dJointID, int anum, dVector3 result)
	Get axis.
dReal	dJointGetLMotorParam (dJointID, int parameter)
	get joint parameter
dReal	dJointGetFixedParam (dJointID, int parameter)
	get joint parameter
void	dJointGetTransmissionContactPoint1 (dJointID, dVector3 result)
	get the contact point of the first wheel of the Transmission joint.
void	dJointGetTransmissionContactPoint2 (dJointID, dVector3 result)
	get contact point of the second wheel of the Transmission joint.
void	dJointSetTransmissionAxis1 (dJointID, dReal x, dReal y, dReal z)
	set the first axis for the Transmission joint More...
void	dJointGetTransmissionAxis1 (dJointID, dVector3 result)
	get first axis for the Transmission joint More...
void	dJointSetTransmissionAxis2 (dJointID, dReal x, dReal y, dReal z)
	set second axis for the Transmission joint More...
void	dJointGetTransmissionAxis2 (dJointID, dVector3 result)
	get second axis for the Transmission joint More...
void	dJointSetTransmissionAnchor1 (dJointID, dReal x, dReal y, dReal z)
	set the first anchor for the Transmission joint More...
void	dJointGetTransmissionAnchor1 (dJointID, dVector3 result)
	get the first anchor of the Transmission joint
void	dJointSetTransmissionAnchor2 (dJointID, dReal x, dReal y, dReal z)
	set the second anchor for the Transmission joint More...
void	dJointGetTransmissionAnchor2 (dJointID, dVector3 result)
	get the second anchor for the Transmission joint
void	dJointSetTransmissionParam (dJointID, int parameter, dReal value)
	set a Transmission joint parameter
dReal	dJointGetTransmissionParam (dJointID, int parameter)
	get a Transmission joint parameter
void	dJointSetTransmissionMode (dJointID j, int mode)
	set the Transmission joint mode More...
int	dJointGetTransmissionMode (dJointID j)
	get the Transmission joint mode
void	dJointSetTransmissionRatio (dJointID j, dReal ratio)
	set the Transmission ratio More...
dReal	dJointGetTransmissionRatio (dJointID j)
	get the Transmission joint ratio
void	dJointSetTransmissionAxis (dJointID j, dReal x, dReal y, dReal z)
	set the common axis for both wheels of the Transmission joint More...
void	dJointGetTransmissionAxis (dJointID j, dVector3 result)
	get the common axis for both wheels of the Transmission joint
dReal	dJointGetTransmissionAngle1 (dJointID j)
	get the phase, that is the traversed angle for the first wheel of the Transmission joint
dReal	dJointGetTransmissionAngle2 (dJointID j)
	get the phase, that is the traversed angle for the second wheel of the Transmission joint
dReal	dJointGetTransmissionRadius1 (dJointID j)
	get the radius of the first wheel of the Transmission joint
dReal	dJointGetTransmissionRadius2 (dJointID j)
	get the radius of the second wheel of the Transmission joint
void	dJointSetTransmissionRadius1 (dJointID j, dReal radius)
	set the radius of the first wheel of the Transmission joint More...
void	dJointSetTransmissionRadius2 (dJointID j, dReal radius)
	set the radius of the second wheel of the Transmission joint More...
dReal	dJointGetTransmissionBacklash (dJointID j)
	get the backlash of the Transmission joint
void	dJointSetTransmissionBacklash (dJointID j, dReal backlash)
	set the backlash of the Transmission joint More...
void	dJointSetDBallAnchor1 (dJointID, dReal x, dReal y, dReal z)
	set anchor1 for double ball joint
void	dJointSetDBallAnchor2 (dJointID, dReal x, dReal y, dReal z)
	set anchor2 for double ball joint
void	dJointGetDBallAnchor1 (dJointID, dVector3 result)
	get anchor1 from double ball joint
void	dJointGetDBallAnchor2 (dJointID, dVector3 result)
	get anchor2 from double ball joint
dReal	dJointGetDBallDistance (dJointID)
	get the set distance from double ball joint
void	dJointSetDBallParam (dJointID, int parameter, dReal value)
	set double ball joint parameter
dReal	dJointGetDBallParam (dJointID, int parameter)
	get double ball joint parameter
void	dJointSetDHingeAxis (dJointID, dReal x, dReal y, dReal z)
	set axis for double hinge joint
void	dJointGetDHingeAxis (dJointID, dVector3 result)
	get axis for double hinge joint
void	dJointSetDHingeAnchor1 (dJointID, dReal x, dReal y, dReal z)
	set anchor1 for double hinge joint
void	dJointSetDHingeAnchor2 (dJointID, dReal x, dReal y, dReal z)
	set anchor2 for double hinge joint
void	dJointGetDHingeAnchor1 (dJointID, dVector3 result)
	get anchor1 from double hinge joint
void	dJointGetDHingeAnchor2 (dJointID, dVector3 result)
	get anchor2 from double hinge joint
dReal	dJointGetDHingeDistance (dJointID)
	get the set distance from double hinge joint
void	dJointSetDHingeParam (dJointID, int parameter, dReal value)
	set double hinge joint parameter
dReal	dJointGetDHingeParam (dJointID, int parameter)
	get double hinge joint parameter
dJointID	dConnectingJoint (dBodyID, dBodyID)
int	dConnectingJointList (dBodyID, dBodyID, dJointID *)
int	dAreConnected (dBodyID, dBodyID)
	Utility function. More...
int	dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type)
	Utility function. More...

Detailed Description

In real life a joint is something like a hinge, that is used to connect two objects. In ODE a joint is very similar: It is a relationship that is enforced between two bodies so that they can only have certain positions and orientations relative to each other. This relationship is called a constraint – the words joint and constraint are often used interchangeably.

A joint has a set of parameters that can be set. These include:

• dParamLoStop Low stop angle or position. Setting this to -dInfinity (the default value) turns off the low stop. For rotational joints, this stop must be greater than -pi to be effective.
• dParamHiStop High stop angle or position. Setting this to dInfinity (the default value) turns off the high stop. For rotational joints, this stop must be less than pi to be effective. If the high stop is less than the low stop then both stops will be ineffective.
• dParamVel Desired motor velocity (this will be an angular or linear velocity).
• dParamFMax The maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor.
• dParamFudgeFactor The current joint stop/motor implementation has a small problem: when the joint is at one stop and the motor is set to move it away from the stop, too much force may be applied for one time step, causing a ``jumping'' motion. This fudge factor is used to scale this excess force. It should have a value between zero and one (the default value). If the jumping motion is too visible in a joint, the value can be reduced. Making this value too small can prevent the motor from being able to move the joint away from a stop.
• dParamBounce The bouncyness of the stops. This is a restitution parameter in the range 0..1. 0 means the stops are not bouncy at all, 1 means maximum bouncyness.
• dParamCFM The constraint force mixing (CFM) value used when not at a stop.
• dParamStopERP The error reduction parameter (ERP) used by the stops.
• dParamStopCFM The constraint force mixing (CFM) value used by the stops. Together with the ERP value this can be used to get spongy or soft stops. Note that this is intended for unpowered joints, it does not really work as expected when a powered joint reaches its limit.
• dParamSuspensionERP Suspension error reduction parameter (ERP). Currently this is only implemented on the hinge-2 joint.
• dParamSuspensionCFM Suspension constraint force mixing (CFM) value. Currently this is only implemented on the hinge-2 joint.

If a particular parameter is not implemented by a given joint, setting it will have no effect. These parameter names can be optionally followed by a digit (2 or 3) to indicate the second or third set of parameters, e.g. for the second axis in a hinge-2 joint, or the third axis in an AMotor joint.

Function Documentation

int dAreConnected	(	dBodyID	,
		dBodyID
	)

Utility function.

Returns

1 if the two bodies are connected together by a joint, otherwise return 0.

int dAreConnectedExcluding	(	dBodyID	body1,
		dBodyID	body2,
		int	joint_type
	)

Utility function.

Returns

1 if the two bodies are connected together by a joint that does not have type

• {joint_type}, otherwise return 0.

Parameters

body1	A body to check.
body2	A body to check.
joint_type	is a dJointTypeXXX constant. This is useful for deciding whether to add contact joints between two bodies: if they are already connected by non-contact joints then it may not be appropriate to add contacts, however it is okay to add more contact between- bodies that already have contacts.

void dJointAddAMotorTorques	(	dJointID	,
		dReal	torque1,
		dReal	torque2,
		dReal	torque3
	)

Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2.

Remarks

If the motor has fewer than three axes, the higher torques are ignored. This function is just a wrapper for dBodyAddTorque().

void dJointAddHinge2Torques	(	dJointID	joint,
		dReal	torque1,
		dReal	torque2
	)

Applies torque1 about the hinge2's axis 1, torque2 about the hinge2's axis 2.

Remarks

This function is just a wrapper for dBodyAddTorque().

void dJointAddHingeTorque	(	dJointID	joint,
		dReal	torque
	)

Applies the torque about the hinge axis.

That is, it applies a torque with specified magnitude in the direction of the hinge axis, to body 1, and with the same magnitude but in opposite direction to body 2. This function is just a wrapper for dBodyAddTorque()}

void dJointAddPistonForce	(	dJointID	joint,
		dReal	force
	)

Applies the given force in the slider's direction.

That is, it applies a force with specified magnitude, in the direction of prismatic's axis, to body1, and with the same magnitude but opposite direction to body2. This function is just a wrapper for dBodyAddForce().

void dJointAddPRTorque	(	dJointID	j,
		dReal	torque
	)

Applies the torque about the rotoide axis of the PR joint.

That is, it applies a torque with specified magnitude in the direction of the rotoide axis, to body 1, and with the same magnitude but in opposite direction to body 2. This function is just a wrapper for dBodyAddTorque()}

void dJointAddPUTorque	(	dJointID	j,
		dReal	torque
	)

Applies the torque about the rotoide axis of the PU joint.

That is, it applies a torque with specified magnitude in the direction of the rotoide axis, to body 1, and with the same magnitude but in opposite direction to body 2. This function is just a wrapper for dBodyAddTorque()}

void dJointAddSliderForce	(	dJointID	joint,
		dReal	force
	)

Applies the given force in the slider's direction.

That is, it applies a force with specified magnitude, in the direction of slider's axis, to body1, and with the same magnitude but opposite direction to body2. This function is just a wrapper for dBodyAddForce().

void dJointAddUniversalTorques	(	dJointID	joint,
		dReal	torque1,
		dReal	torque2
	)

Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2.

Remarks

This function is just a wrapper for dBodyAddTorque().

void dJointAttach	(	dJointID	,
		dBodyID	body1,
		dBodyID	body2
	)

Attach the joint to some new bodies.If the joint is already attached, it will be detached from the old bodies first. To attach this joint to only one body, set body1 or body2 to zero - a zero body refers to the static environment. Setting both bodies to zero puts the joint into "limbo", i.e. it will have no effect on the simulation.

Remarks

Some joints, like hinge-2 need to be attached to two bodies to work.

dJointID dJointCreateAMotor	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the A-motor type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateBall	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the ball type.

Remarks

The joint is initially in "limbo" (i.e. it has no effect on the simulation) because it does not connect to any bodies.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateContact	(	dWorldID	,
		dJointGroupID	,
		const dContact *
	)

Create a new joint of the contact type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateDBall	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the double ball type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateDHinge	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the double hinge type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateFixed	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the fixed type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateHinge	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the hinge type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateHinge2	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the hinge2 type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateLMotor	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the L-motor type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreatePiston	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the Piston type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreatePlane2D	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the plane-2d type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreatePR	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the PR (Prismatic and Rotoide) type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreatePU	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the PU (Prismatic and Universal) type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateSlider	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the slider type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateTransmission	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the Transmission type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

dJointID dJointCreateUniversal	(	dWorldID	,
		dJointGroupID
	)

Create a new joint of the universal type.

Parameters

dJointGroupID

set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group.

void dJointDisable

(

dJointID

)

Manually disable a joint.

Remarks

A disabled joint will not affect the simulation, but will maintain the anchors and axes so it can be enabled later.

void dJointEnable

(

dJointID

)

Manually enable a joint.

Parameters

dJointID

identification of joint.

dReal dJointGetAMotorAngle	(	dJointID	,
		int	anum
	)

Get the current angle for axis.

Remarks

In dAMotorUser mode this is simply the value that was set with dJointSetAMotorAngle(). In dAMotorEuler mode this is the corresponding euler angle.

dReal dJointGetAMotorAngleRate	(	dJointID	,
		int	anum
	)

Get the current angle rate for axis anum.

Remarks

In dAMotorUser mode this is always zero, as not enough information is available. In dAMotorEuler mode this is the corresponding euler angle rate.

void dJointGetAMotorAxis	(	dJointID	,
		int	anum,
		dVector3	result
	)

Get the AMotor axes.

Parameters

anum	selects the axis to change (0,1 or 2).
rel	Each axis can have one of three ``relative orientation'' modes. 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.

int dJointGetAMotorAxisRel	(	dJointID	,
		int	anum
	)

Get axis.

Remarks

The axis vector is always specified in global coordinates regardless of the setting of rel. There are two GetAMotorAxis functions, one to return the axis and one to return the relative mode.

For dAMotorEuler mode:

• Only axes 0 and 2 need to be set. Axis 1 will be determined automatically at each time step.
• Axes 0 and 2 must be perpendicular to each other.
• Axis 0 must be anchored to the first body, axis 2 must be anchored to the second body.

int dJointGetAMotorMode

(

dJointID

)

Get the angular motor mode.

Parameters

mode

must be one of the following constants: dAMotorUser The AMotor axes and joint angle settings are entirely controlled by the user. This is the default mode. dAMotorEuler Euler angles are automatically computed. The axis a1 is also automatically computed. The AMotor axes must be set correctly when in this mode, as described below. When this mode is initially set the current relative orientations of the bodies will correspond to all euler angles at zero.

int dJointGetAMotorNumAxes

(

dJointID

)

Get the number of angular axes that will be controlled by the AMotor.

Parameters

num	can range from 0 (which effectively deactivates the joint) to 3. This is automatically set to 3 in dAMotorEuler mode.

dBodyID dJointGetBody	(	dJointID	,
		int	index
	)

Return the bodies that this joint connects.

Parameters

index

return the first (0) or second (1) body.

Remarks

If one of these returned body IDs is zero, the joint connects the other body to the static environment. If both body IDs are zero, the joint is in ``limbo'' and has no effect on the simulation.

void dJointGetHinge2Anchor	(	dJointID	,
		dVector3	result
	)

Get the joint anchor point, in world coordinates.

Returns

the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

void dJointGetHingeAnchor	(	dJointID	,
		dVector3	result
	)

Get the hinge 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.

void dJointGetHingeAnchor2	(	dJointID	,
		dVector3	result
	)

Get the joint anchor point, in world coordinates.

Returns

The point on body 2. If the joint is perfectly satisfied, this will return the same value as dJointGetHingeAnchor(). If not, this value will be slightly different. This can be used, for example, to see how far the joint has come apart.

dReal dJointGetHingeAngle

(

dJointID

)

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. Give the relative rotation with respect to the Hinge axis of Body 1 with respect to Body 2. 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.

void dJointGetPistonAnchor	(	dJointID	,
		dVector3	result
	)

Get the joint anchor.

This returns the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2 in direction perpendicular to the prismatic axis.

void dJointGetPistonAnchor2	(	dJointID	,
		dVector3	result
	)

Get the joint anchor w.r.t. body 2.

This returns the point on body 2. You can think of a Piston joint as trying to keep the result of dJointGetPistonAnchor() and dJointGetPistonAnchor2() the same in the direction perpendicular to the pirsmatic axis. If the joint is perfectly satisfied, this function will return the same value as dJointGetPistonAnchor() to within roundoff errors. dJointGetPistonAnchor2() can be used, along with dJointGetPistonAnchor(), to see how far the joint has come apart.

dReal dJointGetPistonAngle

(

dJointID

)

Get the Piston angular position (i.e. the twist between the 2 bodies)

When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

dReal dJointGetPistonPosition

(

dJointID

)

Get the Piston linear position (i.e. the piston's extension)

When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

void dJointGetPRAnchor	(	dJointID	,
		dVector3	result
	)

Get the joint anchor point, in world coordinates.

Returns

the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dReal dJointGetPRAngle

(

dJointID

)

Get the PR angular position (i.e. the twist between the 2 bodies)

When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

dReal dJointGetPRPosition

(

dJointID

)

Get the PR linear position (i.e. the prismatic's extension)

When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

The position is the "oriented" length between the position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]

void dJointGetPUAnchor	(	dJointID	,
		dVector3	result
	)

Get the joint anchor point, in world coordinates.

Returns

the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

dReal dJointGetPUAngle1Rate

(

dJointID

)

Get time derivative of angle1

dReal dJointGetPUAngle2Rate

(

dJointID

)

Get time derivative of angle2

void dJointGetPUAngles	(	dJointID	,
		dReal *	angle1,
		dReal *	angle2
	)

Get both angles at the same time.

Parameters

joint	The Prismatic universal joint for which we want to calculate the angles
angle1	The angle between the body1 and the axis 1
angle2	The angle between the body2 and the axis 2

Note

This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together and try to avoid redundant calculation

void dJointGetPUAxisP	(	dJointID	id,
		dVector3	result
	)

Get the prismatic axis.

Note

This function was added for convenience it is the same as dJointGetPUAxis3

dReal dJointGetPUPosition

(

dJointID

)

Get the PU linear position (i.e. the prismatic's extension)

When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.

The position is the "oriented" length between the position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]

dReal dJointGetSliderPosition

(

dJointID

)

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.

The position is the distance, with respect to the zero position, along the slider axis of body 1 with respect to body 2. (A NULL body is replaced by the world).

void dJointGetTransmissionAxis1	(	dJointID	,
		dVector3	result
	)

get first axis for the Transmission joint

Remarks

In parallel-axes and chain mode the common axis with respect to the first body is returned. If the joint constraint is satisfied it should be the same as the axis return with dJointGetTransmissionAxis2 or dJointGetTransmissionAxis.

void dJointGetTransmissionAxis2	(	dJointID	,
		dVector3	result
	)

get second axis for the Transmission joint

Remarks

In parallel-axes and chain mode the common axis with respect to the second body is returned. If the joint constraint is satisfied it should be the same as the axis return with dJointGetTransmissionAxis1 or dJointGetTransmissionAxis.

dJointType dJointGetType

(

dJointID

)

Get the type of the joint.

Returns

the type, being one of these:

• dJointTypeBall
• dJointTypeHinge
• dJointTypeSlider
• dJointTypeContact
• dJointTypeUniversal
• dJointTypeHinge2
• dJointTypeFixed
• dJointTypeNull
• dJointTypeAMotor
• dJointTypeLMotor
• dJointTypePlane2D
• dJointTypePR
• dJointTypePU
• dJointTypePiston

void dJointGetUniversalAnchor	(	dJointID	,
		dVector3	result
	)

Get the joint anchor point, in world coordinates.

Returns

the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2.

void dJointGetUniversalAnchor2	(	dJointID	,
		dVector3	result
	)

Get the joint anchor point, in world coordinates.

Returns

This returns the point on body 2.

Remarks

You can think of the ball and socket part of a universal joint as trying to keep the result of dJointGetBallAnchor() and dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, this function will return the same value as dJointGetUniversalAnchor() to within roundoff errors. dJointGetUniversalAnchor2() can be used, along with dJointGetUniversalAnchor(), to see how far the joint has come apart.

void dJointGetUniversalAngles	(	dJointID	,
		dReal *	angle1,
		dReal *	angle2
	)

Get both angles at the same time.

Parameters

joint	The universal joint for which we want to calculate the angles
angle1	The angle between the body1 and the axis 1
angle2	The angle between the body2 and the axis 2

Note

This function combine getUniversalAngle1 and getUniversalAngle2 together and try to avoid redundant calculation

dJointGroupID dJointGroupCreate

(

int

max_size

)

Create a joint group.

Parameters

max_size

deprecated. Set to 0.

int dJointIsEnabled

(

dJointID

)

Check wether a joint is enabled.

Returns

1 if a joint is currently enabled or 0 if it is disabled.

void dJointSetAMotorAngle	(	dJointID	,
		int	anum,
		dReal	angle
	)

Tell the AMotor what the current angle is along axis anum.

This function should only be called in dAMotorUser mode, because in this mode the AMotor has no other way of knowing the joint angles. The angle information is needed if stops have been set along the axis, but it is not needed for axis motors.

void dJointSetAMotorNumAxes	(	dJointID	,
		int	num
	)

set the nr of axes

Parameters

num

0..3

void dJointSetFeedback	(	dJointID	,
		dJointFeedback *
	)

Sets the datastructure that is to receive the feedback.

The feedback can be used by the user, so that it is known how much force an individual joint exerts.

void dJointSetHingeAxisOffset	(	dJointID	j,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	angle
	)

Set the Hinge axis as if the 2 bodies were already at angle appart.This function initialize the Axis and the relative orientation of each body as if body1 was rotated around the axis by the angle value. Ex:

dJointSetHingeAxis(jId, 1, 0, 0);
// If you request the position you will have: dJointGetHingeAngle(jId) == 0
dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
// If you request the position you will have: dJointGetHingeAngle(jId) == 0.23

Parameters

j	The Hinge joint ID for which the axis will be set
x	The X component of the axis in world frame
y	The Y component of the axis in world frame
z	The Z component of the axis in world frame
angle	The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.

Note

Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where angle appart.

Warning

Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" angle position.

void dJointSetLMotorAxis	(	dJointID	,
		int	anum,
		int	rel,
		dReal	x,
		dReal	y,
		dReal	z
	)

Set the AMotor axes.

Parameters

anum	selects the axis to change (0,1 or 2).
rel	Each axis can have one of three ``relative orientation'' modes 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.

Remarks

The axis vector is always specified in global coordinates regardless of the setting of rel.

void dJointSetLMotorNumAxes	(	dJointID	,
		int	num
	)

Set the number of axes that will be controlled by the LMotor.

Parameters

num	can range from 0 (which effectively deactivates the joint) to 3.

void dJointSetPistonAnchorOffset	(	dJointID	j,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	dx,
		dReal	dy,
		dReal	dz
	)

Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex:

dReal offset = 3;
dVector3 axis;
dJointGetPistonAxis(jId, axis);
dJointSetPistonAnchor(jId, 0, 0, 0);
// If you request the position you will have: dJointGetPistonPosition(jId) == 0
dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
// If you request the position you will have: dJointGetPistonPosition(jId) == offset

Parameters

j	The Piston joint for which the anchor point will be set
x	The X position of the anchor point in world frame
y	The Y position of the anchor point in world frame
z	The Z position of the anchor point in world frame
dx	A delta to be substracted to the X position as if the anchor was set when body1 was at current_position[X] - dx
dx	A delta to be substracted to the Y position as if the anchor was set when body1 was at current_position[Y] - dy
dx	A delta to be substracted to the Z position as if the anchor was set when body1 was at current_position[Z] - dz

ODE_API_DEPRECATED void dJointSetPistonAxisDelta	(	dJointID	j,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	ax,
		dReal	ay,
		dReal	az
	)

This function set prismatic axis of the joint and also set the position of the joint.

Parameters

j	The joint affected by this function
x	The x component of the axis
y	The y component of the axis
z	The z component of the axis
dx	The Initial position of the prismatic join in the x direction
dy	The Initial position of the prismatic join in the y direction
dz	The Initial position of the prismatic join in the z direction

void dJointSetPRParam	(	dJointID	,
		int	parameter,
		dReal	value
	)

set joint parameter

Note

parameterX where X equal 2 refer to parameter for the rotoide articulation

void dJointSetPUAnchorOffset	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	dx,
		dReal	dy,
		dReal	dz
	)

Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex:

dReal offset = 3;
dVector3 axis;
dJointGetPUAxis(jId, axis);
dJointSetPUAnchor(jId, 0, 0, 0);
// If you request the position you will have: dJointGetPUPosition(jId) == 0
dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
// If you request the position you will have: dJointGetPUPosition(jId) == offset

Parameters

j	The PU joint for which the anchor point will be set
x	The X position of the anchor point in world frame
y	The Y position of the anchor point in world frame
z	The Z position of the anchor point in world frame
dx	A delta to be substracted to the X position as if the anchor was set when body1 was at current_position[X] - dx
dx	A delta to be substracted to the Y position as if the anchor was set when body1 was at current_position[Y] - dy
dx	A delta to be substracted to the Z position as if the anchor was set when body1 was at current_position[Z] - dz

void dJointSetPUAxisP	(	dJointID	id,
		dReal	x,
		dReal	y,
		dReal	z
	)

set the axis for the prismatic articulation

Note

This function was added for convenience it is the same as dJointSetPUAxis3

void dJointSetPUParam	(	dJointID	,
		int	parameter,
		dReal	value
	)

set joint parameter

Note

parameterX where X equal 2 refer to parameter for second axis of the universal articulation

parameterX where X equal 3 refer to parameter for prismatic articulation

void dJointSetTransmissionAnchor1	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z
	)

set the first anchor for the Transmission joint

Remarks

This is the point of attachment of the wheel on the first body. It is given in global coordinates.

void dJointSetTransmissionAnchor2	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z
	)

set the second anchor for the Transmission joint

Remarks

This is the point of attachment of the wheel on the second body. It is given in global coordinates.

void dJointSetTransmissionAxis	(	dJointID	j,
		dReal	x,
		dReal	y,
		dReal	z
	)

set the common axis for both wheels of the Transmission joint

Remarks

This sets the common axis of revolution for both wheels and should only be used in parallel-axes or chain mode. For intersecting-axes mode where each wheel axis needs to be specified individually dJointSetTransmissionAxis1 and dJointSetTransmissionAxis2 should be used. The axis is given in global coordinates

void dJointSetTransmissionAxis1	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z
	)

set the first axis for the Transmission joint

Remarks

This is the axis around which the first body is allowed to revolve and is attached to it. It is given in global coordinates and can only be set explicitly in intersecting-axes mode. For the parallel-axes and chain modes which share one common axis of revolution for both gears dJointSetTransmissionAxis should be used.

void dJointSetTransmissionAxis2	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z
	)

set second axis for the Transmission joint

Remarks

This is the axis around which the second body is allowed to revolve and is attached to it. It is given in global coordinates and can only be set explicitly in intersecting-axes mode. For the parallel-axes and chain modes which share one common axis of revolution for both gears dJointSetTransmissionAxis should be used.

void dJointSetTransmissionBacklash	(	dJointID	j,
		dReal	backlash
	)

set the backlash of the Transmission joint

Remarks

Backlash is the clearance in the mesh of the wheels of the transmission and is defined as the maximum distance that the geometric contact point can travel without any actual contact or transfer of power between the wheels. This can be converted in degrees of revolution for each wheel by dividing by the wheel's radius. To further illustrate this consider the situation where a wheel of radius r_1 is driving another wheel of radius r_2 and there is an amount of backlash equal to b in their mesh. If the driving wheel were to instantaneously stop there would be no contact and hence the driven wheel would continue to turn for another b / r_2 radians until all the backlash in the mesh was take up and contact restored with the relationship of driving and driven wheel reversed. The backlash is therefore given in untis of length.

void dJointSetTransmissionMode	(	dJointID	j,
		int	mode
	)

set the Transmission joint mode

Remarks

The mode can be one of dTransmissionParallelAxes, dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a set of parallel-axes gears, intersecting-axes beveled gears or chain and sprockets respectively.

void dJointSetTransmissionRadius1	(	dJointID	j,
		dReal	radius
	)

set the radius of the first wheel of the Transmission joint

Remarks

The wheel radii can only be set explicitly in chain mode. In the other modes they're defined implicitly by the initial configuration and ratio of the wheels.

void dJointSetTransmissionRadius2	(	dJointID	j,
		dReal	radius
	)

set the radius of the second wheel of the Transmission joint

Remarks

The wheel radii can only be set explicitly in chain mode. In the other modes they're defined implicitly by the initial configuration and ratio of the wheels.

void dJointSetTransmissionRatio	(	dJointID	j,
		dReal	ratio
	)

set the Transmission ratio

Remarks

This is the ratio of the angular speed of the first gear to that of the second gear. It can only be set explicitly in parallel-axes mode. In intersecting-axes mode the ratio is defined implicitly by the initial configuration of the wheels and in chain mode it is defined implicitly be the wheel radii.

void dJointSetUniversalAxis1Offset	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	offset1,
		dReal	offset2
	)

Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.This function initialize the axis1 and the relative orientation of each body as if body1 was rotated around the new axis1 by the offset1 value and as if body2 was rotated around the axis2 by offset2. Ex:

 dJointSetHuniversalAxis1(jId, 1, 0, 0);
 // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
 // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
 dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
 // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
 // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
 

Parameters

j	The Hinge joint ID for which the axis will be set
x	The X component of the axis in world frame
y	The Y component of the axis in world frame
z	The Z component of the axis in world frame
angle	The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.

Note

Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where offsets appart.

Any previous offsets are erased.

Warning

Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset will reset the "zero" angle position.

void dJointSetUniversalAxis2Offset	(	dJointID	,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	offset1,
		dReal	offset2
	)

Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.This function initialize the axis2 and the relative orientation of each body as if body1 was rotated around the axis1 by the offset1 value and as if body2 was rotated around the new axis2 by offset2. Ex:

dJointSetHuniversalAxis2(jId, 0, 1, 0);
// If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
// If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
// If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
// If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17

Parameters

j	The Hinge joint ID for which the axis will be set
x	The X component of the axis in world frame
y	The Y component of the axis in world frame
z	The Z component of the axis in world frame
angle	The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.

Note

Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where offsets appart.

Any previous offsets are erased.

Warning

Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset will reset the "zero" angle position.