Changes between Version 2 and Version 3 of HmiPhysics


Ignore:
Timestamp:
07/12/13 14:19:15 (6 years ago)
Author:
welberge
Comment:

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  • HmiPhysics

    v2 v3  
    99 
    1010=== Coordinate systems=== 
     11==== PhysicalJoint ==== 
     12{{{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. 
    1113 
     14{{{joint.getAngle(i) returns the angle around the ith axis of the joint}}} 
     15 
     16==== PhysicalSegment ==== 
     17{{{segment.box.getRotation()/getTranslation()}}} return the rotation/translation of a segment in world coordinates 
     18 
     19==== PhysicalHumanoid ==== 
     20{{{ph.getCOM()/getCOMDiff}}} return the Center of Mass / its velocity in world coordinates.