wiki:HmiPhysics

Version 5 (modified by welberge, 6 years ago) (diff)

--

HmiPhysics

Quickstart

TODO

HmiPhysicalHumanoid

XML definition

TODO

Coordinate systems

PhysicalJoint

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.

joint.getAngle(i) returns the angle around the ith axis of the joint

PhysicalSegment

segment.box.getRotation()/getTranslation() return the rotation/translation of a segment in world coordinates. box.getInertiaTensor() provides the inertiatensor on the center of mass of the segment in world coordinates when it has identity rotation.

PhysicalHumanoid

ph.getCOM()/getCOMDiff return the Center of Mass / its velocity in world coordinates.