ode.HingeJoint

Module ode :: Class HingeJoint

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Type HingeJoint

object --+    
         |    
     Joint --+
             |
            HingeJoint

Hinge joint.

Constructor:

 HingeJoint(world, jointgroup=None)

Method Summary
	`__init__(...)` x.__init__(...) initializes x; see x.__class__.__doc__ for signature
	`__new__(T, S, ...)` T.__new__(S, ...) -> a new object with type S, a subtype of T
	`addTorque(torque)` Applies the torque about the hinge axis.
3-tuple of floats	`getAnchor()` Get the joint anchor point, in world coordinates.
3-tuple of floats	`getAnchor2()` Get the joint anchor point, in world coordinates.
float	`getAngle()` Get the hinge angle.
float	`getAngleRate()` Get the time derivative of the angle.
3-tuple of floats	`getAxis()` Get the hinge axis.
float	`getParam(param)` Get limit/motor parameters for the joint.
	`setAnchor(pos)` Set the hinge anchor which must be given in world coordinates.
	`setAxis(axis)` Set the hinge axis.
	`setParam(param, value)` Set limit/motor parameters for the joint.
Inherited from Joint
	`__delattr__(...)` x.__delattr__('name') <==> del x.name
	`__getattribute__(...)` x.__getattribute__('name') <==> x.name
	`__setattr__(...)` x.__setattr__('name', value) <==> x.name = value
	`attach(body1, body2)` Attach the joint to some new bodies.
Body	`getBody(index)` Return the bodies that this joint connects.
(force1, torque1, force2, torque2)	`getFeedback()` Get the forces/torques applied by the joint.
	`setFeedback(flag)` Create a feedback buffer.
	`_destroyed(...)` Notify the joint object about an external destruction of the ODE joint.
Inherited from object
	`__hash__(x)` x.__hash__() <==> hash(x)
	`__reduce__(...)` helper for pickle
	`__reduce_ex__(...)` helper for pickle
	`__repr__(x)` x.__repr__() <==> repr(x)
	`__str__(x)` x.__str__() <==> str(x)

Method Details

init(...)
(Constructor)

x.__init__(...) initializes x; see x.__class__.__doc__ for signature

Overrides:: ode.Joint.__init__

new(T, S, ...)

T.__new__(S, ...) -> a new object with type S, a subtype of T

Returns:

a new object with type S, a subtype of T

Overrides:: ode.Joint.__new__

addTorque(torque)

Applies the torque about the hinge axis.

Parameters:: torque - Torque magnitude
(type=float)

getAnchor()

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.

Returns:: 3-tuple of floats

getAnchor2()

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.

Returns:: 3-tuple of floats

getAngle()

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.

Returns:: float

getAngleRate()

Get the time derivative of the angle.

Returns:: float

getAxis()

Get the hinge axis.

Returns:: 3-tuple of floats

getParam(param)

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.

Parameters:: param - Selects the parameter to read
(type=int)

Returns:: float

setAnchor(pos)

Set the hinge anchor which must be given in world coordinates.

Parameters:: pos - Anchor position
(type=3-sequence of floats)

setAxis(axis)

Set the hinge axis.

Parameters:: axis - Hinge axis
(type=3-sequence of floats)

setParam(param, value)

Set limit/motor parameters for the joint.