[Pyode-commits] pyode/src declarations.pyx,1.12,1.13 joints.pyx,1.5,1.6

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25849/src

Modified Files:
	declarations.pyx joints.pyx 
Log Message:
Added methods to set joint forces/torques directly

Index: joints.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/joints.pyx,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** joints.pyx	15 Nov 2004 20:16:03 -0000	1.5
--- joints.pyx	5 May 2005 17:41:33 -0000	1.6
***************
*** 398,401 ****
--- 398,410 ----
          return dJointGetHingeAngleRate(self.jid)
  
+     # addTorque
+     def addTorque(self, torque):
+         """Applies the torque about the hinge axis.
+ 
+         @param torque: Torque magnitude
+         @type torque: float
+         """
+         dJointAddHingeTorque(self.jid, torque)
+ 
      # setParam
      def setParam(self, param, value):
***************
*** 504,507 ****
--- 513,525 ----
          return dJointGetSliderPositionRate(self.jid)
  
+     # addForce
+     def addForce(self, force):
+         """Applies the given force in the slider's direction.
+ 
+         @param force: Force magnitude
+         @type force: float
+         """
+         dJointAddSliderForce(self.jid, force)
+ 
      # setParam
      def setParam(self, param, value):
***************
*** 618,621 ****
--- 636,650 ----
          return (a[0],a[1],a[2])
  
+     # addTorques
+     def addTorques(self, torque1, torque2):
+         """Applies torque1 about axis 1, and torque2 about axis 2.
+ 
+         @param torque1: Torque 1 magnitude
+         @param torque2: Torque 2 magnitude
+         @type torque1: float
+         @type torque2: float
+         """
+         dJointAddUniversalTorques(self.jid, torque1, torque2)
+ 
      # setParam
      def setParam(self, param, value):
***************
*** 761,764 ****
--- 790,804 ----
          return dJointGetHinge2Angle2Rate(self.jid)
  
+     # addTorques
+     def addTorques(self, torque1, torque2):
+         """Applies torque1 about axis 1, and torque2 about axis 2.
+ 
+         @param torque1: Torque 1 magnitude
+         @param torque2: Torque 2 magnitude
+         @type torque1: float
+         @type torque2: float
+         """
+         dJointAddHinge2Torques(self.jid, torque1, torque2)
+ 
      # setParam
      def setParam(self, param, value):
***************
*** 977,980 ****
--- 1017,1033 ----
          return dJointGetAMotorAngleRate(self.jid, anum)
  
+     # addTorques
+     def addTorques(self, torque0, torque1, torque2):
+         """Applies torques about the AMotor's axes.
+ 
+         @param torque0: Torque 0 magnitude
+         @param torque1: Torque 1 magnitude
+         @param torque2: Torque 2 magnitude
+         @type torque0: float
+         @type torque1: float
+         @type torque2: float
+         """
+         dJointAddAMotorTorques(self.jid, torque0, torque1, torque2)
+ 
      # setParam
      def setParam(self, param, value):

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** declarations.pyx	15 Nov 2004 20:16:03 -0000	1.12
--- declarations.pyx	5 May 2005 17:41:33 -0000	1.13
***************
*** 230,243 ****
--- 230,247 ----
      void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z)
      void dJointSetHingeParam (dJointID, int parameter, dReal value)
+     void dJointAddHingeTorque(dJointID joint, dReal torque)
      void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z)
      void dJointSetSliderParam (dJointID, int parameter, dReal value)
+     void dJointAddSliderForce(dJointID joint, dReal force)
      void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z)
      void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z)
      void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z)
      void dJointSetHinge2Param (dJointID, int parameter, dReal value)
+     void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2)
      void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z)
      void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z)
      void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z)
      void dJointSetUniversalParam (dJointID, int parameter, dReal value)
+     void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2)
      void dJointSetFixed (dJointID)
      void dJointSetAMotorNumAxes (dJointID, int num)
***************
*** 246,249 ****
--- 250,254 ----
      void dJointSetAMotorParam (dJointID, int parameter, dReal value)
      void dJointSetAMotorMode (dJointID, int mode)
+     void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3)
  
      void dJointGetBallAnchor (dJointID, dVector3 result)