UniversalJoint (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.BodyConnector
    - - artisynth.core.mechmodels.JointBase
      - artisynth.core.mechmodels.UniversalJoint

All Implemented Interfaces:

Constrainer, CopyableComponent, HasCoordinateFrame, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

RollPitchJoint, SkewedUniversalJoint
```
public class UniversalJoint
extends JointBase
implements CopyableComponent
```
Implements a 2 DOF rotary joint, which allows frame C to rotate with respect to frame D by a rotation roll about the z axis, followed by a rotation pitch about the rotated y axis. All rotations are counter-clockwise.
The roll and pitch angles are available (in degrees) as properties which can be read and also, under appropriate circumstances, set. Setting these values causes an adjustment in the positions of one or both bodies connected to this joint, along with adjacent bodies connected to them, with preference given to bodies that are not attached to ``ground''. If this is done during simulation, and particularly if one or both of the bodies connected to this joint are moving dynamically, the results will be unpredictable and will likely conflict with the simulation.

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`UniversalJoint.AxisSet` Specifies whether the roll-pitch-yaw angles of this joint describe instrinic rotations about the Z-Y-X or X-Y-Z axes.

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility

Field Summary

Fields
Modifier and Type Field and Description

static double DEFAULT_JOINT_RADIUS

static PropertyList myProps

static int PITCH_IDX

static int ROLL_IDX
- Fields inherited from class artisynth.core.mechmodels.JointBase
  DEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUS
- Fields inherited from class artisynth.core.mechmodels.BodyConnector
  debug, useOldDerivativeMethod
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface artisynth.core.modelbase.CopyableComponent
  COPY_REFERENCES, REST_POSITION
- Fields inherited from interface artisynth.core.modelbase.TransformableGeometry
  TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static double`	`DEFAULT_JOINT_RADIUS`
`static PropertyList`	`myProps`
`static int`	`PITCH_IDX`
`static int`	`ROLL_IDX`

Constructor Summary

Constructors
Constructor and Description
`UniversalJoint()` Creates a `UniversalJoint` which is not attached to any bodies.
`UniversalJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW)` Creates a `UniversalJoint` connecting two connectable bodies, `bodyA` and `bodyB`.
`UniversalJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW)` Creates a `UniversalJoint` connecting two connectable bodies, `bodyA` and `bodyB`.
`UniversalJoint(ConnectableBody bodyA, RigidTransform3d TDW)` Creates a `UniversalJoint` connecting a single connectable body, `bodyA`, to ground.
`UniversalJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB)` Creates a `UniversalJoint` connecting two rigid bodies, `bodyA` and `bodyB`.
`UniversalJoint(UniversalJoint.AxisSet axes)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`UniversalJoint.AxisSet`	`getAxes()`
`double`	`getJointRadius()` Returns a radius used for rendering this joint as a sphere.
`double`	`getMaxPitch()` Queries the upper pitch range limit for this joint, in degrees.
`double`	`getMaxRoll()` Queries the upper roll range limit for this joint, in degrees.
`double`	`getMinPitch()` Queries the lower pitch range limit for this joint, in degrees.
`double`	`getMinRoll()` Queries the lower roll range limit for this joint, in degrees.
`double`	`getPitch()` Queries this joint's pitch value, in degrees.
`DoubleInterval`	`getPitchRange()` Queries the pitch range limits for this joint, in degrees.
`double`	`getRoll()` Queries this joint's roll value, in degrees.
`double[]`	`getRollPitchRad()` Returns the roll and pitch angles for this joint, in radians.
`DoubleInterval`	`getRollRange()` Queries the roll range limits for this joint, in degrees.
`boolean`	`isPitchLocked()` Queries whether the pitch coordinate for this joint is locked.
`boolean`	`isRollLocked()` Queries whether the roll coordinate for this joint is locked.
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`setJointRadius(double r)` Sets a radius used for rendering this joint as a sphere.
`void`	`setMaxPitch(double max)` Sets the upper pitch range limit for this joint, in degrees.
`void`	`setMaxRoll(double max)` Sets the upper roll range limit for this joint, in degrees.
`void`	`setMinPitch(double min)` Sets the lower pitch range limit for this joint, in degrees.
`void`	`setMinRoll(double min)` Sets the lower roll range limit for this joint, in degrees.
`void`	`setPitch(double pitch)` Sets this joint's pitch value, in degrees.
`void`	`setPitchLocked(boolean locked)` Set whether the pitch coordinate for this joint is locked.
`void`	`setPitchRange(double min, double max)` Sets the pitch range limits for this joint, in degrees.
`void`	`setPitchRange(DoubleInterval range)` Sets the pitch range limits for this joint, in degrees.
`void`	`setRoll(double roll)` Sets this joint's roll value, in degrees.
`void`	`setRollLocked(boolean locked)` Set whether the roll coordinate for this joint is locked.
`void`	`setRollPitchRad(double[] angs)` Sets the roll and pitch angles for this joint, in radians.
`void`	`setRollRange(double min, double max)` Sets the roll range limits for this joint, in degrees.
`void`	`setRollRange(DoubleInterval range)` Sets the roll range limits for this joint, in degrees.
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.BodyConnector
addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, copy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCoupling, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRenderFrame, getRotaryCompliance, getRotaryLimitTol, getRotaryLimitTolMode, getState, getStateVersion, getTransformDGeometryOnly, getTransformPositionOnly, getUnilateralForceInA, getUnilateralForceInA, getUnilateralForceInB, getUnilateralForceInB, getUnilateralForceInC, getUnilateralForceInC, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, isActive, isConnectedToBodies, isDuplicatable, isEnabled, isNotAttached, maxFrictionConstraintSets, numBilateralConstraints, numConstraints, numEngagedUnilateralConstraints, numUnilateralConstraints, prerender, printConnectedBodies, printConstraintInfo, scaleDistance, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateConstraints, zeroForces

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.CopyableComponent
copy, getCopyReferences, isDuplicatable

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties
getProperty

Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable
postscan

Methods inherited from interface maspack.util.Scannable
isWritable, write

Methods inherited from interface artisynth.core.modelbase.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

- Field Detail
  - ROLL_IDX
```
public static final int ROLL_IDX
```
    See Also:
    
    Constant Field Values
  - PITCH_IDX
```
public static final int PITCH_IDX
```
    See Also:
    
    Constant Field Values
  - DEFAULT_JOINT_RADIUS
```
public static final double DEFAULT_JOINT_RADIUS
```
    See Also:
    
    Constant Field Values
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - UniversalJoint
```
public UniversalJoint()
```
    Creates a UniversalJoint which is not attached to any bodies. It can subsequently be connected using one of the setBodies methods.
  - UniversalJoint
```
public UniversalJoint(UniversalJoint.AxisSet axes)
```
  - UniversalJoint
```
public UniversalJoint(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidBody bodyB,
                      RigidTransform3d TDB)
```
    Creates a UniversalJoint connecting two rigid bodies, bodyA and bodyB. If A and B describe the coordinate frames of bodyA and bodyB, then TCA and TDB give the (fixed) transforms from the joint's C and D frames to A and B, respectively. Since C and D are specified independently, the joint transform TCD may not necessarily be initialized to the identity.
    Specifying bodyB as null will cause bodyA to be connected to ground, with TDB then being the same as TDW.
    
    Parameters:
    
    bodyA - rigid body A
    
    TCA - transform from joint frame C to body frame A
    
    bodyB - rigid body B (or null)
    
    TDB - transform from joint frame D to body frame B
  - UniversalJoint
```
public UniversalJoint(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TCW,
                      RigidTransform3d TDW)
```
    Creates a UniversalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames C and D are located independently with respect to world coordinates by TCW and TDW.
    Specifying bodyB as null will cause bodyA to be connected to ground.
    
    Parameters:
    
    bodyA - body A
    
    bodyB - body B (or null)
    
    TCW - initial transform from joint frame C to world
    
    TDW - initial transform from joint frame D to world
  - UniversalJoint
```
public UniversalJoint(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TDW)
```
    Creates a UniversalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, so that roll and pitch will have initial values of 0. D (and C) is located by TDW, which gives the transform from D to world coordinates.
    
    Parameters:
    
    bodyA - body A
    
    bodyB - body B
    
    TDW - initial transform from joint frames D and C to world
  - UniversalJoint
```
public UniversalJoint(ConnectableBody bodyA,
                      RigidTransform3d TDW)
```
    Creates a UniversalJoint connecting a single connectable body, bodyA, to ground. The joint frames D and C are assumed to be initially coincident, so that roll and pitch will have initial values of 0. D (and C) is located by TDW, which gives the transform from D to world coordinates.
    
    Parameters:
    
    bodyA - body A
    
    TDW - initial transform from joint frames D and C to world
- Method Detail
  - getAllPropertyInfo
```
public PropertyList getAllPropertyInfo()
```
    Description copied from interface: HasProperties
    
    Returns a list giving static information about all properties exported by this object.
    
    Specified by:
    
    getAllPropertyInfo in interface HasProperties
    
    Overrides:
    
    getAllPropertyInfo in class JointBase
    
    Returns:
    
    static information for all exported properties
  - getAxes
```
public UniversalJoint.AxisSet getAxes()
```
  - getRollPitchRad
```
public double[] getRollPitchRad()
```
    Returns the roll and pitch angles for this joint, in radians. See setRoll(double) and setPitch(double) for the definition of these angles.
    
    Returns:
    
    roll and pitch angles, in an array of length 2
  - setRollPitchRad
```
public void setRollPitchRad(double[] angs)
```
    Sets the roll and pitch angles for this joint, in radians. See setRoll(double) and setPitch(double) for the definition of these angles and what happens when they are set.
    
    Parameters:
    
    angs - new roll and pitch angles, in an array of length 2
  - getRoll
```
public double getRoll()
```
    Queries this joint's roll value, in degrees. See setRoll(double) for more details.
    
    Returns:
    
    current roll value
  - setRoll
```
public void setRoll(double roll)
```
    Sets this joint's roll value, in degrees. This describes the initial counter-clockwise rotation of frame C about the z axis of frame D. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    roll - new roll value
  - getRollRange
```
public DoubleInterval getRollRange()
```
    Queries the roll range limits for this joint, in degrees. See setRollRange(DoubleInterval) for more details.
    
    Returns:
    
    roll range limits for this joint
  - getMinRoll
```
public double getMinRoll()
```
    Queries the lower roll range limit for this joint, in degrees.
    
    Returns:
    
    lower roll range limit
  - getMaxRoll
```
public double getMaxRoll()
```
    Queries the upper roll range limit for this joint, in degrees.
    
    Returns:
    
    upper roll range limit
  - setRollRange
```
public void setRollRange(DoubleInterval range)
```
    Sets the roll range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If roll travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - roll range limits for this joint
  - setRollRange
```
public void setRollRange(double min,
                         double max)
```
    Sets the roll range limits for this joint, in degrees. This is a convenience wrapper for setRollRange(DoubleInterval).
    
    Parameters:
    
    min - minimum roll value
    
    max - maximum roll value
  - setMaxRoll
```
public void setMaxRoll(double max)
```
    Sets the upper roll range limit for this joint, in degrees. Setting a value of inf removes the upper limit.
    
    Parameters:
    
    max - upper roll range limit
  - setMinRoll
```
public void setMinRoll(double min)
```
    Sets the lower roll range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.
    
    Parameters:
    
    min - lower roll range limit
  - isRollLocked
```
public boolean isRollLocked()
```
    Queries whether the roll coordinate for this joint is locked.
    
    Returns:
    
    true if roll is locked
  - setRollLocked
```
public void setRollLocked(boolean locked)
```
    Set whether the roll coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks roll
  - getPitch
```
public double getPitch()
```
    Queries this joint's pitch value, in degrees. See setPitch(double) for more details.
    
    Returns:
    
    current pitch value
  - setPitch
```
public void setPitch(double pitch)
```
    Sets this joint's pitch value, in degrees. This describes the counter-clockwise rotation of frame C about its y axis after the roll rotation. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    pitch - new pitch value
  - getPitchRange
```
public DoubleInterval getPitchRange()
```
    Queries the pitch range limits for this joint, in degrees. See setPitchRange(DoubleInterval) for more details.
    
    Returns:
    
    pitch range limits for this joint
  - getMinPitch
```
public double getMinPitch()
```
    Queries the lower pitch range limit for this joint, in degrees.
    
    Returns:
    
    lower pitch range limit
  - getMaxPitch
```
public double getMaxPitch()
```
    Queries the upper pitch range limit for this joint, in degrees.
    
    Returns:
    
    upper pitch range limit
  - setPitchRange
```
public void setPitchRange(DoubleInterval range)
```
    Sets the pitch range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If pitch travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - pitch range limits for this joint
  - setPitchRange
```
public void setPitchRange(double min,
                          double max)
```
    Sets the pitch range limits for this joint, in degrees. This is a convenience wrapper for setPitchRange(DoubleInterval).
    
    Parameters:
    
    min - minimum pitch value
    
    max - maximum pitch value
  - setMaxPitch
```
public void setMaxPitch(double max)
```
    Sets the upper pitch range limit for this joint, in degrees. Setting a value of inf removes the upper limit.
    
    Parameters:
    
    max - upper pitch range limit
  - setMinPitch
```
public void setMinPitch(double min)
```
    Sets the lower pitch range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.
    
    Parameters:
    
    min - lower pitch range limit
  - isPitchLocked
```
public boolean isPitchLocked()
```
    Queries whether the pitch coordinate for this joint is locked.
    
    Returns:
    
    true if pitch is locked
  - setPitchLocked
```
public void setPitchLocked(boolean locked)
```
    Set whether the pitch coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks pitch
  - getJointRadius
```
public double getJointRadius()
```
    Returns a radius used for rendering this joint as a sphere. See getJointRadius() for details.
    
    Returns:
    
    joint rendering radius
  - setJointRadius
```
public void setJointRadius(double r)
```
    Sets a radius used for rendering this joint as a sphere. The default value is 0. Setting a value of -1 will invoke a legacy rendering method, in which the joint is rendered using point rendering properties.
    
    Parameters:
    
    r - joint rendering radius
  - updateBounds
```
public void updateBounds(Vector3d pmin,
                         Vector3d pmax)
```
    Description copied from interface: IsRenderable
    
    Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.
    
    Specified by:
    
    updateBounds in interface IsRenderable
    
    Overrides:
    
    updateBounds in class BodyConnector
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - render
```
public void render(Renderer renderer,
                   int flags)
```
    Description copied from interface: IsRenderable
    
    Render this object using the functionality of the supplied Renderer.
    
    Specified by:
    
    render in interface IsRenderable
    
    Overrides:
    
    render in class BodyConnector
    
    Parameters:
    
    renderer - provides the functionality used to perform the rendering.
    
    flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.

Class UniversalJoint

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

Field Summary

Fields inherited from class artisynth.core.mechmodels.JointBase

Fields inherited from class artisynth.core.mechmodels.BodyConnector

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.JointBase

Methods inherited from class artisynth.core.mechmodels.BodyConnector

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.CopyableComponent

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface artisynth.core.modelbase.HasNumericState

Field Detail

ROLL_IDX

PITCH_IDX

DEFAULT_JOINT_RADIUS

myProps

Constructor Detail

UniversalJoint

UniversalJoint

UniversalJoint

UniversalJoint

UniversalJoint

UniversalJoint

Method Detail

getAllPropertyInfo

getAxes

getRollPitchRad

setRollPitchRad

getRoll

setRoll

getRollRange

getMinRoll

getMaxRoll

setRollRange

setRollRange

setMaxRoll

setMinRoll

isRollLocked

setRollLocked

getPitch

setPitch

getPitchRange

getMinPitch

getMaxPitch

setPitchRange

setPitchRange

setMaxPitch

setMinPitch

isPitchLocked

setPitchLocked

getJointRadius

setJointRadius

updateBounds

render