Changes between Version 3 and Version 4 of HmiPhysics


Ignore:
Timestamp:
07/12/13 14:19:38 (6 years ago)
Author:
welberge
Comment:

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  • HmiPhysics

    v3 v4  
    99 
    1010=== Coordinate systems=== 
    11 ==== PhysicalJoint ==== 
     11==== !PhysicalJoint ==== 
    1212{{{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. 
    1313 
    1414{{{joint.getAngle(i) returns the angle around the ith axis of the joint}}} 
    1515 
    16 ==== PhysicalSegment ==== 
     16==== !PhysicalSegment ==== 
    1717{{{segment.box.getRotation()/getTranslation()}}} return the rotation/translation of a segment in world coordinates 
    1818 
    19 ==== PhysicalHumanoid ==== 
     19==== !PhysicalHumanoid ==== 
    2020{{{ph.getCOM()/getCOMDiff}}} return the Center of Mass / its velocity in world coordinates.