Class: MSPhysics::CurvyPiston

Inherits:
Joint show all
Defined in:
RubyExtension/MSPhysics/joint_curvy_piston.rb

Overview

Since:

  • 1.0.0

Constant Summary collapse

DEFAULT_ANGULAR_FRICTION =

Since:

  • 1.0.0

0.0
DEFAULT_RATE =

Since:

  • 1.0.0

4.0
DEFAULT_POWER =

Since:

  • 1.0.0

0.0
DEFAULT_ALIGNMENT_POWER =

Since:

  • 1.0.0

0.0
DEFAULT_REDUCTION_RATIO =

Since:

  • 1.0.0

0.1
DEFAULT_CONTROLLER =

Since:

  • 1.0.0

nil
DEFAULT_CONTROLLER_MODE =

Since:

  • 1.0.0

0
DEFAULT_LOOP_ENABLED =

Since:

  • 1.0.0

false
DEFAULT_ALIGNMENT_ENABLED =

Since:

  • 1.0.0

true
DEFAULT_ROTATION_ENABLED =

Since:

  • 1.0.0

true

Constants inherited from Joint

Joint::DEFAULT_BODIES_COLLIDABLE, Joint::DEFAULT_BREAKING_FORCE, Joint::DEFAULT_SOLVER_MODEL, Joint::DEFAULT_STIFFNESS

Instance Method Summary collapse

Methods inherited from Joint

#address, all_joints, #bodies_collidable=, #bodies_collidable?, #breaking_force, #breaking_force=, #child, #connect, #connected?, #destroy, #disconnect, #dof, #get_pin_matrix, #get_pin_matrix2, #get_tension1, #get_tension2, #group, joint_by_address, #name, #name=, #parent, #set_pin_matrix, #solver_model, #solver_model=, #stiffness, #stiffness=, #type, #valid?, validate, #world

Methods inherited from Entity

#inspect, #to_s

Constructor Details

#initialize(world, parent, pin_tra, group = nil) ⇒ CurvyPiston

Create a CurvyPiston joint.

Parameters:

  • world (MSPhysics::World)
  • parent (MSPhysics::Body, nil)
  • pin_tra (Geom::Transformation, Array<Numeric>) —

    Pin transformation in global space. Matrix origin is interpreted as the pin position. Matrix Z-axis is interpreted as the pin direction.

  • group (Sketchup::Group, Sketchup::ComponentInstance, nil) (defaults to: nil)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 24

def initialize(world, parent, pin_tra, group = nil)
  super(world, parent, pin_tra, group)
  MSPhysics::Newton::CurvyPiston.create(@address)
  MSPhysics::Newton::CurvyPiston.set_angular_friction(@address, DEFAULT_ANGULAR_FRICTION)
  MSPhysics::Newton::CurvyPiston.set_rate(@address, DEFAULT_RATE)
  MSPhysics::Newton::CurvyPiston.set_power(@address, DEFAULT_POWER)
  MSPhysics::Newton::CurvyPiston.set_alignment_power(@address, DEFAULT_ALIGNMENT_POWER)
  MSPhysics::Newton::CurvyPiston.set_reduction_ratio(@address, DEFAULT_REDUCTION_RATIO)
  MSPhysics::Newton::CurvyPiston.set_controller(@address, DEFAULT_CONTROLLER)
  MSPhysics::Newton::CurvyPiston.set_controller_mode(@address, DEFAULT_CONTROLLER_MODE)
  MSPhysics::Newton::CurvyPiston.enable_loop(@address, DEFAULT_LOOP_ENABLED)
  MSPhysics::Newton::CurvyPiston.enable_alignment(@address, DEFAULT_ALIGNMENT_ENABLED)
  MSPhysics::Newton::CurvyPiston.enable_rotation(@address, DEFAULT_ROTATION_ENABLED)
end

Instance Method Details

#add_point(position) ⇒ Integer

Append point to the curve.

Parameters:

  • position (Geom::Point3d)

Returns:

  • (Integer) —

    point index.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 42

def add_point(position)
  MSPhysics::Newton::CurvyPiston.add_point(@address, position)
end

#alignment_enabled=(state) ⇒ Object

Enable/disable alignment to curve.

Parameters:

  • state (Boolean)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 253

def alignment_enabled=(state)
  MSPhysics::Newton::CurvyPiston.enable_alignment(@address, state)
end

#alignment_enabled? ⇒ Boolean

Determine whether the connected body is supposed to align with the direction of curve.

Returns:

  • (Boolean)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 247

def alignment_enabled?
  MSPhysics::Newton::CurvyPiston.alignment_enabled?(@address)
end

#alignment_power ⇒ Numeric

Note:

Has an effect only if alignment is enabled.

Get alignment power.

Returns:

  • (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 260

def alignment_power
  MSPhysics::Newton::CurvyPiston.get_alignment_power(@address)
end

#alignment_power=(value) ⇒ Object

Note:

Has an effect only if alignment is enabled.

Set alignment power.

Parameters:

  • value (Numeric) —

    A value greater than or equal to zero. Pass zero to use maximum power.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 268

def alignment_power=(value)
  MSPhysics::Newton::CurvyPiston.set_alignment_power(@address, value)
end

#angular_friction ⇒ Numeric

Get rotational friction.

Returns:

  • (Numeric) —

    A numeric value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 134

def angular_friction
  MSPhysics::Newton::CurvyPiston.get_angular_friction(@address)
end

#angular_friction=(value) ⇒ Object

Set rotational friction.

Parameters:

  • value (Numeric) —

    A numeric value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 140

def angular_friction=(value)
  MSPhysics::Newton::CurvyPiston.set_angular_friction(@address, value)
end

#clear ⇒ Integer

Remove all points that make up the curve.

Returns:

  • (Integer) —

    The number of points removed.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 67

def clear
  MSPhysics::Newton::CurvyPiston.clear_points(@address)
end

#controller ⇒ Numeric?

Get curvy piston controller.

Returns:

  • (Numeric, nil) —

    Returns one of the following values:

    • Desired position in meters if the controller mode is 0.

    • Magnitude and direction of the linear rate if controller mode is 1.

    • nil if piston is turned off.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 201

def controller
  MSPhysics::Newton::CurvyPiston.get_controller(@address)
end

#controller=(value) ⇒ Object

Set curvy piston controller.

Parameters:

  • value (Numeric, nil) —

    Accepts one of the following values:

    • Desired position in meters if the controller mode is 0.

    • Magnitude and direction of the linear rate if controller mode is 1.

    • nil to turn off the piston.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 210

def controller=(value)
  MSPhysics::Newton::CurvyPiston.set_controller(@address, value)
end

#controller_mode ⇒ Integer

Get controller mode.

Returns:

  • (Integer) —

    Returns one of the following values:

    • 0 to control curvy piston by position.

    • 1 to control curvy piston by speed - strict.

    • 2 to control curvy piston by speed - adaptive.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 219

def controller_mode
  MSPhysics::Newton::CurvyPiston.get_controller_mode(@address)
end

#controller_mode=(mode) ⇒ Object

Set controller mode.

Parameters:

  • mode (Integer) —

    Pass one of the following values:

    • 0 to control curvy piston by position.

    • 1 to control curvy piston by speed - strict.

    • 2 to control curvy piston by speed - adaptive.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 228

def controller_mode=(mode)
  MSPhysics::Newton::CurvyPiston.set_controller_mode(@address, mode)
end

#cur_acceleration ⇒ Numeric

Get current acceleration along the curve in meters per second per second.

Returns:

  • (Numeric)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 107

def cur_acceleration
  MSPhysics::Newton::CurvyPiston.get_cur_acceleration(@address)
end

#cur_normal_matrix ⇒ Geom::Transformation?

Get current normal matrix on the curve.

Returns:

  • (Geom::Transformation, nil) —

    A transformation in global space or nil if curve is empty or joint is disconnected.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 128

def cur_normal_matrix
  MSPhysics::Newton::CurvyPiston.get_cur_normal_matrix(@address)
end

#cur_point ⇒ Geom::Point3d?

Get current point on the curve.

Returns:

  • (Geom::Point3d, nil) —

    A point in global space or nil if curve is empty or joint is disconnected.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 114

def cur_point
  MSPhysics::Newton::CurvyPiston.get_cur_point(@address)
end

#cur_position ⇒ Numeric

Get current position along the curve in meters.

Returns:

  • (Numeric)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 95

def cur_position
  MSPhysics::Newton::CurvyPiston.get_cur_position(@address)
end

#cur_vector ⇒ Geom::Vector3d?

Get current vector on the curve.

Returns:

  • (Geom::Vector3d, nil) —

    A vector in global space or nil if curve is empty or joint is disconnected.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 121

def cur_vector
  MSPhysics::Newton::CurvyPiston.get_cur_vector(@address)
end

#cur_velocity ⇒ Numeric

Get current velocity along the curve in meters per second.

Returns:

  • (Numeric)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 101

def cur_velocity
  MSPhysics::Newton::CurvyPiston.get_cur_velocity(@address)
end

#get_point_position(index) ⇒ Geom::Point3d?

Get point position by index.

Parameters:

  • index (Integer)

Returns:

  • (Geom::Point3d, nil) —

    Point position in global space if the index references an existing point; nil otherwise.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 81

def get_point_position(index)
  MSPhysics::Newton::CurvyPiston.get_point_position(@address, index)
end

#length ⇒ Numeric

Get curve length in meters.

Returns:

  • (Numeric)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 73

def length
  MSPhysics::Newton::CurvyPiston.get_length(@address)
end

#loop_enabled=(state) ⇒ Object

Enable/disable curve looping.

Parameters:

  • state (Boolean)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 240

def loop_enabled=(state)
  MSPhysics::Newton::CurvyPiston.enable_loop(@address, state)
end

#loop_enabled? ⇒ Boolean

Determine whether curve looping is enabled.

Returns:

  • (Boolean)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 234

def loop_enabled?
  MSPhysics::Newton::CurvyPiston.loop_enabled?(@address)
end

#normal_matrices ⇒ Array<Geom::Transformation>

Get all normal matrices of the curve.

Returns:

  • (Array<Geom::Transformation>) —

    An array of the normal matrices.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 305

def normal_matrices
  MSPhysics::Newton::CurvyPiston.get_normal_matrices(@address)
end

#normal_matrix_at_point(point) ⇒ Array<(Geom::Transformation, Numeric)>?

Get normal matrix corresponding to a particular point on or beside the curve.

Parameters:

  • point (Geom::Point3d) —

    A point in global space.

Returns:

  • (Array<(Geom::Transformation, Numeric)>, nil) —

    A transformation in global space along with overpass value or nil if curve is empty or joint is disconnected.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 299

def normal_matrix_at_point(point)
  MSPhysics::Newton::CurvyPiston.get_normal_martix_at_point(@address, point)
end

#normal_matrix_at_position(distance) ⇒ Geom::Transformation?

Get normal matrix corresponding to a particular distance on the curve.

Parameters:

  • distance (Numeric) —

    Linear position on curve in meters.

Returns:

  • (Geom::Transformation, nil) —

    A transformation in global space or nil if curve is empty or joint is disconnected.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 289

def normal_matrix_at_position(distance)
  MSPhysics::Newton::CurvyPiston.get_normal_martix_at_position(@address, distance)
end

#points ⇒ Array<Geom::Point3d>

Get all points the curve is associated of.

Returns:

  • (Array<Geom::Point3d>)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 55

def points
  MSPhysics::Newton::CurvyPiston.get_points(@address)
end

#points_size ⇒ Integer

Get the number of points that make up the curve.

Returns:

  • (Integer)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 61

def points_size
  MSPhysics::Newton::CurvyPiston.get_points_size(@address)
end

#power ⇒ Numeric

Note:

A power value of zero represents maximum power.

Get movement power in Watts.

Returns:

  • (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 159

def power
  MSPhysics::Newton::CurvyPiston.get_power(@address)
end

#power=(value) ⇒ Object

Note:

A power value of zero represents maximum power.

Set movement power in Watts.

Parameters:

  • value (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 166

def power=(value)
  MSPhysics::Newton::CurvyPiston.set_power(@address, value)
end

#rate ⇒ Numeric

Get maximum linear rate in meters per second.

Returns:

  • (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 146

def rate
  MSPhysics::Newton::CurvyPiston.get_rate(@address)
end

#rate=(value) ⇒ Object

Set maximum linear rate in meters per second.

Parameters:

  • value (Numeric) —

    A value greater than or equal to zero.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 152

def rate=(value)
  MSPhysics::Newton::CurvyPiston.set_rate(@address, value)
end

#reduction_ratio ⇒ Numeric

Note:

Reduction ratio is a feature that reduces linear rate of the joint when its current position nears its desired position. Linear reduction ratio starts acting upon the linear rate of the joint when the difference between the current position and the desired position of the joint is less than rate * reduction_ratio meters.

Note:

A reduction ratio of zero disables the reduction feature.

Note:

A typical reduction ratio value is 0.1.

Get linear reduction ratio.

Returns:

  • (Numeric) —

    A value between 0.0 and 1.0.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 179

def reduction_ratio
  MSPhysics::Newton::CurvyPiston.get_reduction_ratio(@address)
end

#reduction_ratio=(value) ⇒ Object

Note:

Reduction ratio is a feature that reduces linear rate of the joint when its current position nears its desired position. Linear reduction ratio starts acting upon the linear rate of the joint when the difference between the current position and the desired position of the joint is less than rate * reduction_ratio meters.

Note:

A reduction ratio of zero disables the reduction feature.

Note:

A typical reduction ratio value is 0.1.

Get linear reduction ratio.

Parameters:

  • value (Numeric) —

    A value between 0.0 and 1.0.

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 192

def reduction_ratio=(value)
  MSPhysics::Newton::CurvyPiston.set_reduction_ratio(@address, value)
end

#remove_point(index) ⇒ Boolean

Remove point from curve at index.

Parameters:

  • index (Integer)

Returns:

  • (Boolean) —

    success

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 49

def remove_point(index)
  MSPhysics::Newton::CurvyPiston.remove_point(@address, index)
end

#rotation_enabled=(state) ⇒ Object

Enable/disable rotation along the current point on curve.

Parameters:

  • state (Boolean)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 281

def rotation_enabled=(state)
  MSPhysics::Newton::CurvyPiston.enable_rotation(@address, state)
end

#rotation_enabled? ⇒ Boolean

Determine whether the rotation along the current point on curve is enabled.

Returns:

  • (Boolean)

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 275

def rotation_enabled?
  MSPhysics::Newton::CurvyPiston.rotation_enabled?(@address)
end

#set_point_position(index, position) ⇒ Boolean

Set point position by index.

Parameters:

  • index (Integer)
  • position (Geom::Point3d) —

    Point position in global space.

Returns:

  • (Boolean) —

    success

Since:

  • 1.0.0



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# File 'RubyExtension/MSPhysics/joint_curvy_piston.rb', line 89

def set_point_position(index, position)
  MSPhysics::Newton::CurvyPiston.set_point_position(@address, index, position)
end