public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBodyBasics parentBody, Vector3D jointOffset, Vector3D jointAxis, boolean isPartOfClosedKinematicLoop) { return addPassiveRevoluteJoint(jointName, parentBody, TransformTools.createTranslationTransform(jointOffset), jointAxis, isPartOfClosedKinematicLoop); }
public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBody parentBody, Vector3d jointOffset, Vector3d jointAxis, boolean isPartOfClosedKinematicLoop) { return addPassiveRevoluteJoint(jointName, parentBody, TransformTools.createTranslationTransform(jointOffset), jointAxis, isPartOfClosedKinematicLoop); }
private void initializeFourBar(RigidBodyTransform jointAtoElevator, RigidBodyTransform jointBtoA, RigidBodyTransform jointCtoB, RigidBodyTransform jointDtoC, Vector3D jointAxisA, Vector3D jointAxisB, Vector3D jointAxisC, Vector3D jointAxisD) { masterJointA = new RevoluteJoint("jointA", elevator, jointAtoElevator, jointAxisA); rigidBodyAB = createAndAttachCylinderRB("rigidBodyAB", masterJointA); passiveJointB = ScrewTools.addPassiveRevoluteJoint("jointB", rigidBodyAB, jointBtoA, jointAxisB, true); rigidBodyBC = createAndAttachCylinderRB("rigidBodyBC", passiveJointB); passiveJointC = ScrewTools.addPassiveRevoluteJoint("jointC", rigidBodyBC, jointCtoB, jointAxisC, true); rigidBodyCD = createAndAttachCylinderRB("rigidBodyCD", passiveJointC); passiveJointD = ScrewTools.addPassiveRevoluteJoint("jointD", rigidBodyCD, jointDtoC, jointAxisD, true); rigidBodyDA = createAndAttachCylinderRB("rigidBodyCD", passiveJointD); masterJointA.setQ(random.nextDouble()); passiveJointB.setQ(random.nextDouble()); passiveJointC.setQ(random.nextDouble()); passiveJointD.setQ(random.nextDouble()); elevator.updateFramesRecursively(); }
passiveJointB = ScrewTools.addPassiveRevoluteJoint("jointB", rigidBodyAB, jointAtoB, jointAxisB, true); rigidBodyBC = createAndAttachCylinderRB("rigidBodyBC", passiveJointB); passiveJointC = ScrewTools.addPassiveRevoluteJoint("jointC", rigidBodyBC, jointBtoC, jointAxisC, true); rigidBodyCD = createAndAttachCylinderRB("rigidBodyCD", passiveJointC); passiveJointD = ScrewTools.addPassiveRevoluteJoint("jointD", rigidBodyCD, jointCtoD, jointAxisD, true); rigidBodyDA = createAndAttachCylinderRB("rigidBodyCD", passiveJointD);