Changes between Version 8 and Version 9 of HmiPhysics


Ignore:
Timestamp:
07/12/13 17:14:04 (6 years ago)
Author:
welberge
Comment:

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  • HmiPhysics

    v8 v9  
    3939{{{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. 
    4040 
    41 {{{joint.getAngle(i) returns the angle around the ith axis of the joint}}} 
     41{{{joint.getAngle(i)}}} returns the angle around the ith axis of the joint (with i=0 corresponding to axis1 in the !PhysicalHumanoid specification). 
    4242 
    4343==== !PhysicalSegment ====