pagoda.physics.Joint¶

class pagoda.physics.Joint[source]¶

Base class for joints connecting two bodies.

In ODE, Body objects represent mass/inertia properties, while Joint and Motor objects represent mathematical constraints that govern how specific pairs of bodies interact. For example, a BallJoint that connects two bodies will force the anchor point for those two bodies to remain in the same location in world coordinates – any linear force that displaces one of the bodies will also cause a force to be applied to the second body, because of the constraint imposed by the ball joint. As another example, a Slider that connects two bodies allows those two bodies to displace relative to one another along a single axis, but not to rotate with respect to one another – any torque applied to one body will also cause a torque to be applied to the other body.

Constraints can be applied to angular degrees of freedom (e.g., AMotor), linear degrees of freedom (e.g., BallJoint, LMotor), or both (e.g., PistonJoint).

Both joints and motors apply constraints to pairs of bodies, but they are quite different in many ways and so are represented using specific subclasses. This superclass is just a mixin to avoid repeating the getters and setters that are common between motors and joints.

__init__()¶: x.__init__(...) initializes x; see help(type(x)) for signature

Methods

`disable_feedback`()	Disable feedback on this ODE object.
`enable_feedback`()	Enable feedback on this ODE object.

Attributes

`ADOF`
`LDOF`
`angle_rates`	List of angle rates for rotational degrees of freedom.
`angles`	List of angles for rotational degrees of freedom.
`axes`	List of axes for this object’s degrees of freedom.
`cfms`	List of CFM values for this object’s degrees of freedom.
`erps`	List of ERP values for this object’s degrees of freedom.
`feedback`	Feedback buffer (list of 3-tuples) for this ODE motor/joint.
`hi_stops`	List of hi stop values for this object’s degrees of freedom.
`lo_stops`	List of lo stop values for this object’s degrees of freedom.
`max_forces`	List of max force values for rotational degrees of freedom.
`position_rates`	List of position rates for linear degrees of freedom.
`positions`	List of positions for linear degrees of freedom.
`stop_cfms`	List of lo/hi stop CFM values.
`stop_erps`	List of lo/hi stop ERP values.
`velocities`	List of target velocity values for rotational degrees of freedom.

angle_rates¶: List of angle rates for rotational degrees of freedom.

angles¶: List of angles for rotational degrees of freedom.

axes¶: List of axes for this object’s degrees of freedom.

cfms¶: List of CFM values for this object’s degrees of freedom.

disable_feedback()[source]¶: Disable feedback on this ODE object.

enable_feedback()[source]¶: Enable feedback on this ODE object.

erps¶: List of ERP values for this object’s degrees of freedom.

feedback¶: Feedback buffer (list of 3-tuples) for this ODE motor/joint.

hi_stops¶: List of hi stop values for this object’s degrees of freedom.

lo_stops¶: List of lo stop values for this object’s degrees of freedom.

max_forces¶: List of max force values for rotational degrees of freedom.

position_rates¶: List of position rates for linear degrees of freedom.

positions¶: List of positions for linear degrees of freedom.

stop_cfms¶: List of lo/hi stop CFM values.

stop_erps¶: List of lo/hi stop ERP values.

velocities¶: List of target velocity values for rotational degrees of freedom.