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Joint : RevoluteJoint

Class description:

This subclass of Joint is used to link two Link objects together using a rotating joint.

RevoluteJoints rotate on a single axis, like a hinge. The knee is another example of a RevoluteJoint--it can bend back-and-forth, but it cannot twist or bend side-to-side.

Methods:

  • getJointAngle
  • getJointPosition
  • link
  • setJointLimits
  • setJointTorque
    getJointAngle( self )

    Returns a double indicating how the angle of this joint from its natural position (which corresponds to a value of 0).

    getJointPosition( self )

    link( self, theNormal, parentPoint, childPoint, childLink, parentLink, currentRotation )

    Creates a revolute (rotating) joint between parentLink and childLink. The joint will be lcoated at parentPoint on the parent's body, and at childPoint on the child's body. The joint will rotate along the axis theNormal.

    If parentLink is the value 0, then the joint will be attached to a fixed point in the world, specified with parentPoint.

    setJointLimits( self, min1, max1 )

    Sets the minimum and maximum allowed rotations (in radians) for this joint.

    setJointTorque( self, torqueValue )

    Applies a torque of torqueValue to the revolute joint.