pagoda.physics.Joint¶

class
pagoda.physics.
Joint
[source]¶ Base class for joints connecting two bodies.
In ODE,
Body
objects represent mass/inertia properties, whileJoint
andMotor
objects represent mathematical constraints that govern how specific pairs of bodies interact. For example, aBallJoint
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, aSlider
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 3tuples) 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.

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

feedback
¶ Feedback buffer (list of 3tuples) 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.
