/** Get the gear ratio. */ public float getRatio () { return joint.getRatio(); } }
/** Set the gear ratio. */ public void setRatio (float ratio) { joint.setRatio(ratio); }
return new WheelJoint(world.getPool(), (WheelJointDef) def); case GEAR: return new GearJoint(world.getPool(), (GearJointDef) def); case PULLEY: return new PulleyJoint(world.getPool(), (PulleyJointDef) def);
GearJoint j = (GearJoint) joint; builder.setType(PbJointType.GEAR); builder.setRatio(j.getRatio()); if (!argJointIndexMap.containsKey(j.getJoint1())) { throw new IllegalArgumentException("Joint 1 not in map"); int j1 = argJointIndexMap.get(j.getJoint1()); if (!argJointIndexMap.containsKey(j.getJoint2())) { throw new IllegalArgumentException("Joint 2 not in map"); int j2 = argJointIndexMap.get(j.getJoint2());
return new WheelJoint(world.getPool(), (WheelJointDef) def); case GEAR: return new GearJoint(world.getPool(), (GearJointDef) def); case PULLEY: return new PulleyJoint(world.getPool(), (PulleyJointDef) def);
return new WheelJoint(world.getPool(), (WheelJointDef) def); case GEAR: return new GearJoint(world.getPool(), (GearJointDef) def); case PULLEY: return new PulleyJoint(world.getPool(), (PulleyJointDef) def);
@Override public void step(TestbedSettings settings) { super.step(settings); float ratio, value; ratio = m_joint4.getRatio(); value = m_joint1.getJointAngle() + ratio * m_joint2.getJointAngle(); addTextLine("theta1 + " + ratio + " * theta2 = " + value); ratio = m_joint5.getRatio(); value = m_joint2.getJointAngle() + ratio * m_joint3.getJointTranslation(); addTextLine("theta2 + " + ratio + " * delta = " + value); }
public static Joint create(World world, JointDef def) { // Joint joint = null; switch (def.type) { case MOUSE: return new MouseJoint(world.getPool(), (MouseJointDef) def); case DISTANCE: return new DistanceJoint(world.getPool(), (DistanceJointDef) def); case PRISMATIC: return new PrismaticJoint(world.getPool(), (PrismaticJointDef) def); case REVOLUTE: return new RevoluteJoint(world.getPool(), (RevoluteJointDef) def); case WELD: return new WeldJoint(world.getPool(), (WeldJointDef) def); case FRICTION: return new FrictionJoint(world.getPool(), (FrictionJointDef) def); case WHEEL: return new WheelJoint(world.getPool(), (WheelJointDef) def); case GEAR: return new GearJoint(world.getPool(), (GearJointDef) def); case PULLEY: return new PulleyJoint(world.getPool(), (PulleyJointDef) def); case CONSTANT_VOLUME: return new ConstantVolumeJoint(world, (ConstantVolumeJointDef) def); case ROPE: return new RopeJoint(world.getPool(), (RopeJointDef) def); case UNKNOWN: default: return null; } }
@Override public void step(TestbedSettings settings) { super.step(settings); float ratio, value; ratio = m_joint4.getRatio(); value = m_joint1.getJointAngle() + ratio * m_joint2.getJointAngle(); addTextLine("theta1 + " + ratio + " * theta2 = " + value); ratio = m_joint5.getRatio(); value = m_joint2.getJointAngle() + ratio * m_joint3.getJointTranslation(); addTextLine("theta2 + " + ratio + " * delta = " + value); }
return new WheelJoint(world.getPool(), (WheelJointDef) def); case GEAR: return new GearJoint(world.getPool(), (GearJointDef) def); case PULLEY: return new PulleyJoint(world.getPool(), (PulleyJointDef) def);