Interface DoubleAxisHingeJoint

All Superinterfaces:
X3DNode, X3DRigidJointNode
All Known Implementing Classes:
DoubleAxisHingeJointObject

public interface DoubleAxisHingeJoint
extends X3DRigidJointNode
DoubleAxisHingeJoint has two independent axes located around a common anchor point.

X3D node tooltip: (X3D version 3.2 or later) [X3DRigidJointNode] DoubleAxisHingeJoint has two independent axes located around a common anchor point. axis1 has limits and a motor, axis 2 only has a motor Contains two RigidBody nodes (containerField values body1, body2).
  • Hint: RigidBodyPhysics component, level 2.

Package hint: This interface is defined by the X3D Java Language Binding Specification for the Scene Authoring Interface (SAI).
See Also:
SAI Java Specification: TODO, X3D Abstract Specification: DoubleAxisHingeJoint, X3D Tooltips: DoubleAxisHingeJoint, X3D Scene Authoring Hints
  • Method Summary

    Modifier and Type Method Description
    float[] getAnchorPoint()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named anchorPoint.
    float[] getAxis1()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named axis1.
    float[] getAxis2()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named axis2.
    RigidBody getBody1()
    Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body1.
    float[] getBody1AnchorPoint()
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body1AnchorPoint.
    float[] getBody1Axis()
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body1Axis.
    RigidBody getBody2()
    Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body2.
    float[] getBody2AnchorPoint()
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body2AnchorPoint.
    float[] getBody2Axis()
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body2Axis.
    float getDesiredAngularVelocity1()
    Provide float value from inputOutput SFFloat field named desiredAngularVelocity1.
    float getDesiredAngularVelocity2()
    Provide float value from inputOutput SFFloat field named desiredAngularVelocity2.
    java.lang.String[] getForceOutput()
    Provide array of String enumeration results (baseType forceOutputValues) ['"ALL"' | '"NONE"' | '"etc."'] from inputOutput MFString field named forceOutput.
    float getHinge1Angle()
    Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge1Angle.
    float getHinge1AngleRate()
    Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge1AngleRate.
    float getHinge2Angle()
    Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge2Angle.
    float getHinge2AngleRate()
    Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge2AngleRate.
    float getMaxAngle1()
    Provide float value unit axis, angle (in radians) from inputOutput SFFloat field named maxAngle1.
    float getMaxTorque1()
    Provide float value from inputOutput SFFloat field named maxTorque1.
    float getMaxTorque2()
    Provide float value from inputOutput SFFloat field named maxTorque2.
    X3DMetadataObject getMetadata()
    Provide X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.
    float getMinAngle1()
    Provide float value unit axis, angle (in radians) from inputOutput SFFloat field named minAngle1.
    float getStop1Bounce()
    Provide float value from inputOutput SFFloat field named stop1Bounce.
    float getStop1ConstantForceMix()
    Provide float value from inputOutput SFFloat field named stop1ConstantForceMix.
    float getStop1ErrorCorrection()
    Provide float value from inputOutput SFFloat field named stop1ErrorCorrection.
    float getSuspensionErrorCorrection()
    Provide float value from inputOutput SFFloat field named suspensionErrorCorrection.
    float getSuspensionForce()
    Provide float value from inputOutput SFFloat field named suspensionForce.
    DoubleAxisHingeJoint setAnchorPoint​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named anchorPoint.
    DoubleAxisHingeJoint setAxis1​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named axis1.
    DoubleAxisHingeJoint setAxis2​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named axis2.
    DoubleAxisHingeJoint setBody1​(RigidBody newValue)
    Accessor method to assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body1.
    DoubleAxisHingeJoint setBody2​(RigidBody newValue)
    Accessor method to assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body2.
    DoubleAxisHingeJoint setDesiredAngularVelocity1​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named desiredAngularVelocity1.
    DoubleAxisHingeJoint setDesiredAngularVelocity2​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named desiredAngularVelocity2.
    DoubleAxisHingeJoint setForceOutput​(java.lang.String[] newValue)
    Accessor method to assign String enumeration array (""ALL"" | ""NONE"") to inputOutput MFString field named forceOutput.
    DoubleAxisHingeJoint setMaxAngle1​(float newValue)
    Accessor method to assign float value unit axis, angle (in radians) to inputOutput SFFloat field named maxAngle1.
    DoubleAxisHingeJoint setMaxTorque1​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named maxTorque1.
    DoubleAxisHingeJoint setMaxTorque2​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named maxTorque2.
    DoubleAxisHingeJoint setMetadata​(X3DMetadataObject newValue)
    Accessor method to assign X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.
    DoubleAxisHingeJoint setMinAngle1​(float newValue)
    Accessor method to assign float value unit axis, angle (in radians) to inputOutput SFFloat field named minAngle1.
    DoubleAxisHingeJoint setStop1Bounce​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named stop1Bounce.
    DoubleAxisHingeJoint setStop1ConstantForceMix​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named stop1ConstantForceMix.
    DoubleAxisHingeJoint setStop1ErrorCorrection​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named stop1ErrorCorrection.
    DoubleAxisHingeJoint setSuspensionErrorCorrection​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named suspensionErrorCorrection.
    DoubleAxisHingeJoint setSuspensionForce​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named suspensionForce.
  • Method Details

    • getAnchorPoint

      float[] getAnchorPoint()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named anchorPoint.

      Tooltip: anchorPoint is joint center, specified in world coordinates. *
      Returns:
      value of anchorPoint field
    • setAnchorPoint

      DoubleAxisHingeJoint setAnchorPoint​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named anchorPoint.

      Tooltip: anchorPoint is joint center, specified in world coordinates. *
      Parameters:
      newValue - is new value for the anchorPoint field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getAxis1

      float[] getAxis1()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named axis1.

      Tooltip: axis1 defines axis vector of joint connection to body1.
      • Hint: 0 0 0 means motor disabled.
      Returns:
      value of axis1 field
    • setAxis1

      DoubleAxisHingeJoint setAxis1​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named axis1.

      Tooltip: axis1 defines axis vector of joint connection to body1.
      • Hint: 0 0 0 means motor disabled.
      Parameters:
      newValue - is new value for the axis1 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getAxis2

      float[] getAxis2()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named axis2.

      Tooltip: axis2 defines axis vector of joint connection to body2.
      • Hint: 0 0 0 means motor disabled.
      Returns:
      value of axis2 field
    • setAxis2

      DoubleAxisHingeJoint setAxis2​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named axis2.

      Tooltip: axis2 defines axis vector of joint connection to body2.
      • Hint: 0 0 0 means motor disabled.
      Parameters:
      newValue - is new value for the axis2 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getBody1

      RigidBody getBody1()
      Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body1.
      Specified by:
      getBody1 in interface X3DRigidJointNode
      Returns:
      value of body1 field
    • setBody1

      DoubleAxisHingeJoint setBody1​(RigidBody newValue)
      Accessor method to assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body1.
      Specified by:
      setBody1 in interface X3DRigidJointNode
      Parameters:
      newValue - is new value for the body1 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getBody1AnchorPoint

      float[] getBody1AnchorPoint()
      Provide array of 3-tuple float results from outputOnly SFVec3f field named body1AnchorPoint.
      Returns:
      value of body1AnchorPoint field
    • getBody1Axis

      float[] getBody1Axis()
      Provide array of 3-tuple float results from outputOnly SFVec3f field named body1Axis.
      Returns:
      value of body1Axis field
    • getBody2

      RigidBody getBody2()
      Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body2.
      Specified by:
      getBody2 in interface X3DRigidJointNode
      Returns:
      value of body2 field
    • setBody2

      DoubleAxisHingeJoint setBody2​(RigidBody newValue)
      Accessor method to assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body2.
      Specified by:
      setBody2 in interface X3DRigidJointNode
      Parameters:
      newValue - is new value for the body2 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getBody2AnchorPoint

      float[] getBody2AnchorPoint()
      Provide array of 3-tuple float results from outputOnly SFVec3f field named body2AnchorPoint.
      Returns:
      value of body2AnchorPoint field
    • getBody2Axis

      float[] getBody2Axis()
      Provide array of 3-tuple float results from outputOnly SFVec3f field named body2Axis.
      Returns:
      value of body2Axis field
    • getDesiredAngularVelocity1

      float getDesiredAngularVelocity1()
      Provide float value from inputOutput SFFloat field named desiredAngularVelocity1.

      Tooltip: desiredAngularVelocity1 is goal rotation rate for hinge connection to body1. *
      Returns:
      value of desiredAngularVelocity1 field
    • setDesiredAngularVelocity1

      DoubleAxisHingeJoint setDesiredAngularVelocity1​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named desiredAngularVelocity1.

      Tooltip: desiredAngularVelocity1 is goal rotation rate for hinge connection to body1. *
      Parameters:
      newValue - is new value for the desiredAngularVelocity1 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getDesiredAngularVelocity2

      float getDesiredAngularVelocity2()
      Provide float value from inputOutput SFFloat field named desiredAngularVelocity2.

      Tooltip: desiredAngularVelocity2 is goal rotation rate for hinge connection to body2. *
      Returns:
      value of desiredAngularVelocity2 field
    • setDesiredAngularVelocity2

      DoubleAxisHingeJoint setDesiredAngularVelocity2​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named desiredAngularVelocity2.

      Tooltip: desiredAngularVelocity2 is goal rotation rate for hinge connection to body2. *
      Parameters:
      newValue - is new value for the desiredAngularVelocity2 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getForceOutput

      java.lang.String[] getForceOutput()
      Provide array of String enumeration results (baseType forceOutputValues) ['"ALL"' | '"NONE"' | '"etc."'] from inputOutput MFString field named forceOutput.

      Tooltip: forceOutput controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame. *
      Specified by:
      getForceOutput in interface X3DRigidJointNode
      Returns:
      value of forceOutput field
    • setForceOutput

      DoubleAxisHingeJoint setForceOutput​(java.lang.String[] newValue)
      Accessor method to assign String enumeration array (""ALL"" | ""NONE"") to inputOutput MFString field named forceOutput.

      Tooltip: forceOutput controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame. *
      Specified by:
      setForceOutput in interface X3DRigidJointNode
      Parameters:
      newValue - is new value for the forceOutput field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getHinge1Angle

      float getHinge1Angle()
      Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge1Angle.
      Returns:
      value of hinge1Angle field
    • getHinge1AngleRate

      float getHinge1AngleRate()
      Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge1AngleRate.
      Returns:
      value of hinge1AngleRate field
    • getHinge2Angle

      float getHinge2Angle()
      Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge2Angle.
      Returns:
      value of hinge2Angle field
    • getHinge2AngleRate

      float getHinge2AngleRate()
      Provide float value unit axis, angle (in radians) from outputOnly SFFloat field named hinge2AngleRate.
      Returns:
      value of hinge2AngleRate field
    • getMaxAngle1

      float getMaxAngle1()
      Provide float value unit axis, angle (in radians) from inputOutput SFFloat field named maxAngle1.

      Tooltip: [-pi,pi] maxAngle1 is maximum rotation angle for hinge. *
      Returns:
      value of maxAngle1 field
    • setMaxAngle1

      DoubleAxisHingeJoint setMaxAngle1​(float newValue)
      Accessor method to assign float value unit axis, angle (in radians) to inputOutput SFFloat field named maxAngle1.

      Tooltip: [-pi,pi] maxAngle1 is maximum rotation angle for hinge. *
      Parameters:
      newValue - is new value for the maxAngle1 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getMaxTorque1

      float getMaxTorque1()
      Provide float value from inputOutput SFFloat field named maxTorque1.

      Tooltip: maxTorque1 is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity1. *
      Returns:
      value of maxTorque1 field
    • setMaxTorque1

      DoubleAxisHingeJoint setMaxTorque1​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named maxTorque1.

      Tooltip: maxTorque1 is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity1. *
      Parameters:
      newValue - is new value for the maxTorque1 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getMaxTorque2

      float getMaxTorque2()
      Provide float value from inputOutput SFFloat field named maxTorque2.

      Tooltip: maxTorque2 is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity2. *
      Returns:
      value of maxTorque2 field
    • setMaxTorque2

      DoubleAxisHingeJoint setMaxTorque2​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named maxTorque2.

      Tooltip: maxTorque2 is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity2. *
      Parameters:
      newValue - is new value for the maxTorque2 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getMetadata

      X3DMetadataObject getMetadata()
      Provide X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.
      Specified by:
      getMetadata in interface X3DNode
      Specified by:
      getMetadata in interface X3DRigidJointNode
      Returns:
      value of metadata field
      See Also:
      X3D Scene Authoring Hints: Metadata Nodes
    • setMetadata

      DoubleAxisHingeJoint setMetadata​(X3DMetadataObject newValue)
      Accessor method to assign X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.
      Specified by:
      setMetadata in interface X3DNode
      Specified by:
      setMetadata in interface X3DRigidJointNode
      Parameters:
      newValue - is new value for the metadata field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      See Also:
      X3D Scene Authoring Hints: Metadata Nodes
    • getMinAngle1

      float getMinAngle1()
      Provide float value unit axis, angle (in radians) from inputOutput SFFloat field named minAngle1.

      Tooltip: [-pi,pi] minAngle1 is minimum rotation angle for hinge. *
      Returns:
      value of minAngle1 field
    • setMinAngle1

      DoubleAxisHingeJoint setMinAngle1​(float newValue)
      Accessor method to assign float value unit axis, angle (in radians) to inputOutput SFFloat field named minAngle1.

      Tooltip: [-pi,pi] minAngle1 is minimum rotation angle for hinge. *
      Parameters:
      newValue - is new value for the minAngle1 field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getStop1Bounce

      float getStop1Bounce()
      Provide float value from inputOutput SFFloat field named stop1Bounce.

      Tooltip: [0,1] stop1Bounce is velocity factor for bounce back once stop point is reached.
      • Hint: 0 means no bounce, 1 means return velocity matches.
      Returns:
      value of stop1Bounce field
    • setStop1Bounce

      DoubleAxisHingeJoint setStop1Bounce​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named stop1Bounce.

      Tooltip: [0,1] stop1Bounce is velocity factor for bounce back once stop point is reached.
      • Hint: 0 means no bounce, 1 means return velocity matches.
      Parameters:
      newValue - is new value for the stop1Bounce field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getStop1ConstantForceMix

      float getStop1ConstantForceMix()
      Provide float value from inputOutput SFFloat field named stop1ConstantForceMix.

      Tooltip: [0,1] stop1ConstantForceMix value applies a constant force value to make colliding surfaces appear to be somewhat soft.
      • Hint: use with suspensionForce to improve softness and numerical stability.
      • Hint: 0 means no stop adjustment, 1 means springier stop response.
      Returns:
      value of stop1ConstantForceMix field
    • setStop1ConstantForceMix

      DoubleAxisHingeJoint setStop1ConstantForceMix​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named stop1ConstantForceMix.

      Tooltip: [0,1] stop1ConstantForceMix value applies a constant force value to make colliding surfaces appear to be somewhat soft.
      • Hint: use with suspensionForce to improve softness and numerical stability.
      • Hint: 0 means no stop adjustment, 1 means springier stop response.
      Parameters:
      newValue - is new value for the stop1ConstantForceMix field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getStop1ErrorCorrection

      float getStop1ErrorCorrection()
      Provide float value from inputOutput SFFloat field named stop1ErrorCorrection.

      Tooltip: [0,1] stop1ErrorCorrection is fraction of error correction performed during time step once stop point is reached.
      • Hint: 0 means no error correction, 1 means all error corrected in single step.
      Returns:
      value of stop1ErrorCorrection field
    • setStop1ErrorCorrection

      DoubleAxisHingeJoint setStop1ErrorCorrection​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named stop1ErrorCorrection.

      Tooltip: [0,1] stop1ErrorCorrection is fraction of error correction performed during time step once stop point is reached.
      • Hint: 0 means no error correction, 1 means all error corrected in single step.
      Parameters:
      newValue - is new value for the stop1ErrorCorrection field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getSuspensionErrorCorrection

      float getSuspensionErrorCorrection()
      Provide float value from inputOutput SFFloat field named suspensionErrorCorrection.

      Tooltip: [0,1] suspensionErrorCorrection describes how quickly the system resolves intersection errors due to floating-point inaccuracies.
      • Hint: use with stop1ConstantForceMix to improve softness and numerical stability.
      • Hint: 0 means no stop adjustment, 1 means springier stop response.
      Returns:
      value of suspensionErrorCorrection field
    • setSuspensionErrorCorrection

      DoubleAxisHingeJoint setSuspensionErrorCorrection​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named suspensionErrorCorrection.

      Tooltip: [0,1] suspensionErrorCorrection describes how quickly the system resolves intersection errors due to floating-point inaccuracies.
      • Hint: use with stop1ConstantForceMix to improve softness and numerical stability.
      • Hint: 0 means no stop adjustment, 1 means springier stop response.
      Parameters:
      newValue - is new value for the suspensionErrorCorrection field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    • getSuspensionForce

      float getSuspensionForce()
      Provide float value from inputOutput SFFloat field named suspensionForce.

      Tooltip: [0,1] suspensionForce describes how quickly the system resolves intersection errors due to floating-point inaccuracies.
      • Hint: use with stop1ConstantForceMix to improve softness and numerical stability.
      • Hint: 0 means no stop adjustment, 1 means springier stop response.
      Returns:
      value of suspensionForce field
    • setSuspensionForce

      DoubleAxisHingeJoint setSuspensionForce​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named suspensionForce.

      Tooltip: [0,1] suspensionForce describes how quickly the system resolves intersection errors due to floating-point inaccuracies.
      • Hint: use with stop1ConstantForceMix to improve softness and numerical stability.
      • Hint: 0 means no stop adjustment, 1 means springier stop response.
      Parameters:
      newValue - is new value for the suspensionForce field.
      Returns:
      DoubleAxisHingeJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).