Class: MSPhysics::Universal

Inherits:
Joint show all
Defined in:
RubyExtension/MSPhysics/joint_universal.rb

Overview

Since:

  • 1.0.0

Constant Summary

DEFAULT_MIN =

Since:

  • 1.0.0

-180.0.degrees
DEFAULT_MAX =

Since:

  • 1.0.0

180.0.degrees
DEFAULT_LIMITS_ENABLED =

Since:

  • 1.0.0

false
DEFAULT_FRICTION =

Since:

  • 1.0.0

0.0
DEFAULT_CONTROLLER =

Since:

  • 1.0.0

1.0

Constants inherited from Joint

Joint::DEFAULT_BODIES_COLLIDABLE, Joint::DEFAULT_BREAKING_FORCE, Joint::DEFAULT_SOLVER_MODEL, Joint::DEFAULT_STIFFNESS

Instance Method Summary collapse

Methods inherited from Joint

#address, all_joints, #bodies_collidable=, #bodies_collidable?, #breaking_force, #breaking_force=, #child, #connect, #connected?, #destroy, #disconnect, #dof, #get_pin_matrix, #get_pin_matrix2, #group, joint_by_address, #name, #name=, #parent, #set_pin_matrix, #solver_model, #solver_model=, #stiffness, #stiffness=, #type, #valid?, validate, #world

Methods inherited from Entity

#inspect, #to_s

Constructor Details

#initialize(world, parent, pin_tra, group = nil) ⇒ Universal

Create a universal joint.

Parameters:

  • world (MSPhysics::World)
  • parent (MSPhysics::Body, nil)
  • pin_tra (Geom::Transformation, Array<Numeric>) —

    Pin transformation in global space. Matrix origin is interpreted as the pin position. Matrix Z-axis is interpreted as the pin direction.

  • group (Sketchup::Group, Sketchup::ComponentInstance, nil) (defaults to: nil)

Since:

  • 1.0.0

Instance Method Details

#controller ⇒ Numeric

Note:

Default controller value is 1.0.

Note:

The actual friction is friction * controller.

Get magnitude of the angular friction.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#controller=(value) ⇒ Object

Note:

Default controller value is 1.0.

Note:

The actual friction is friction * controller.

Set magnitude of the angular friction.

Parameters:

  • value (Numeric)

Since:

  • 1.0.0

#cur_alpha1 ⇒ Numeric

Get current angular acceleration in radians per second per second along joint Z-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#cur_alpha2 ⇒ Numeric

Get current angular acceleration in radians per second per second along joint X-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#cur_angle1 ⇒ Numeric

Get current angle in radians along joint Z-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#cur_angle2 ⇒ Numeric

Get current angle in radians along joint X-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#cur_omega1 ⇒ Numeric

Get current angular velocity in radians per second along joint Z-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#cur_omega2 ⇒ Numeric

Get current angular velocity in radians per second along joint X-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#friction ⇒ Numeric

Note:

The actual friction is friction * controller.

Get angular friction.

Returns:

  • (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0

#friction=(value) ⇒ Object

Note:

The actual friction is friction * controller.

Set angular friction.

Parameters:

  • value (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0

#limits1_enabled=(state) ⇒ Object

Enable/disable min & max angle limits along joint Z-axis.

Parameters:

  • state (Boolean)

Since:

  • 1.0.0

#limits1_enabled? ⇒ Boolean

Determine whether min & max angle limits along joint Z-axis are enabled.

Returns:

  • (Boolean)

Since:

  • 1.0.0

#limits2_enabled=(state) ⇒ Object

Enable/disable min & max angle limits along joint X-axis.

Parameters:

  • state (Boolean)

Since:

  • 1.0.0

#limits2_enabled? ⇒ Boolean

Determine whether min & max angle limits along joint X-axis are enabled.

Returns:

  • (Boolean)

Since:

  • 1.0.0

#max1 ⇒ Numeric

Get maximum angle in radians along joint Z-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#max1=(value) ⇒ Object

Set maximum angle in radians along joint Z-axis.

Parameters:

  • value (Numeric)

Since:

  • 1.0.0

#max2 ⇒ Numeric

Get maximum angle in radians along joint X-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#max2=(value) ⇒ Object

Set maximum angle in radians along joint X-axis.

Parameters:

  • value (Numeric)

Since:

  • 1.0.0

#min1 ⇒ Numeric

Get minimum angle in radians along joint Z-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#min1=(value) ⇒ Object

Set minimum angle in radians along joint Z-axis.

Parameters:

  • value (Numeric)

Since:

  • 1.0.0

#min2 ⇒ Numeric

Get minimum angle in radians along joint X-axis.

Returns:

  • (Numeric)

Since:

  • 1.0.0

#min2=(value) ⇒ Object

Set minimum angle in radians along joint X-axis.

Parameters:

  • value (Numeric)

Since:

  • 1.0.0