Changes between Version 9 and Version 10 of HmiPhysics


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Timestamp:
08/23/13 16:29:55 (5 years ago)
Author:
welberge
Comment:

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  • HmiPhysics

    v9 v10  
    3737=== Coordinate systems=== 
    3838==== !PhysicalJoint ==== 
    39 {{{joint.addTorque(x,y,z)}}} applies a torque of x on the 1st joint axis (typically its local x axis), y on the 2nd joint axis (typically its local y axis), etc. The torque is applied to the joint that rotates the underlying physical segment. The opposite torque is applied to the physical segment above. So if you add a torque of (10,0,0) on the knee joint, this is transfered to a torque of (10,0,0) on the knee segment and a torque of (-10,0,0) on the hip segment. 
     39{{{joint.addTorque(x,y,z)}}} applies a torque of x on the local x axis), y on the local y axis, etc. The torque is applied to the joint that rotates the underlying physical segment. The opposite torque is applied to the physical segment above. So if you add a torque of (10,0,0) on the knee joint, this is transfered to a torque of (10,0,0) on the knee segment and a torque of (-10,0,0) on the hip segment. 
    4040 
    41 {{{joint.getAngle(i)}}} returns the angle around the ith axis of the joint (with i=0 corresponding to axis1 in the !PhysicalHumanoid specification). 
     41{{{joint.getAngle(i)}}} returns the angle around the ith axis of the joint (with i=0 is x, i=1 is y, etc.). 
    4242 
    4343==== !PhysicalSegment ====