Momentum Scripting v1
Deprecated API version. Use Momentum.v2 for new scripts.
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Public Member Functions | List of all members
MOMENTUM_NAMESPACE::LinearMotor Class Reference

#include <LinearMotor.h>

Public Member Functions

double getCurrentForce () const
 
double getDamping () const
 
double getElasticity () const
 
bool getEnabled () const
 
bool getEnableSpringAtZeroSpeed () const
 
std::pair< double, double > getForceLimit () const
 
double getTargetSpeed () const
 
void setDamping (double damping)
 
void setElasticity (double elasticity)
 
void setEnabled (bool enabled)
 
void setEnableSpringAtZeroSpeed (bool flag)
 
bool setForceLimit (double lower, double upper)
 
bool setForceLimit (std::pair< double, double > limit)
 
void setTargetSpeed (double speed)
 

Detailed Description

A Linear motor will try to reach a target speed with a specified max force.

Deprecated:
Use Momentum.v2.LinearMotor and getHoldPositionDamping()/setHoldPositionDamping() for position-holding damping. See Migrating from the deprecated v1 API.

Member Function Documentation

◆ getCurrentForce()

double MOMENTUM_NAMESPACE::LinearSecondaryJoint::getCurrentForce ( ) const
inherited

Get the force that the secondary constraint is applying to the object at the moment.

Returns
the current force created by the constraint. Unit is in Newton.

◆ getDamping()

double MOMENTUM_NAMESPACE::SecondaryJoint::getDamping ( ) const
inherited

Get the damping of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Returns
the current damping of the secondary constraint

◆ getElasticity()

double MOMENTUM_NAMESPACE::SecondaryJoint::getElasticity ( ) const
inherited

Get the elasticity of the secondary constraint, depending if it is linear or rotational it is in different units, newton per meter for linear and newton per radian if it is rotational.

Returns
the current elasticity of the secondary constraint

◆ getEnabled()

bool MOMENTUM_NAMESPACE::SecondaryJoint::getEnabled ( ) const
inherited

Get if the secondary constraint is enabled on its parent joint.

Returns
true if the constraint is enabled for simulation

◆ getEnableSpringAtZeroSpeed()

bool MOMENTUM_NAMESPACE::LinearMotor::getEnableSpringAtZeroSpeed ( ) const
Returns
true if the motor should act like a spring at target speed = zero

◆ getForceLimit()

std::pair< double, double > MOMENTUM_NAMESPACE::LinearSecondaryJoint::getForceLimit ( ) const
inherited

Get the lower and upper force of the secondary constraint.

The unit is in Newton.

Returns
the current force range of the constraint

◆ getTargetSpeed()

double MOMENTUM_NAMESPACE::LinearMotor::getTargetSpeed ( ) const

Get the target speed that the motor tries to reach using the available force.

In meters per second.

Returns
The target speed of the motor

◆ setDamping()

void MOMENTUM_NAMESPACE::SecondaryJoint::setDamping ( double  damping)
inherited

Set the damping of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Parameters
dampingthe new damping of the secondary constraint

Only available in simulation mode

◆ setElasticity()

void MOMENTUM_NAMESPACE::SecondaryJoint::setElasticity ( double  elasticity)
inherited

Set the elasticity of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Parameters
elasticitythe new elasticity of the secondary constraint

Only available in simulation mode

◆ setEnabled()

void MOMENTUM_NAMESPACE::SecondaryJoint::setEnabled ( bool  enabled)
inherited

Set if the secondary constraint is enabled on its parent joint.

Parameters
enabled- the new enable state for the constraint

Only available in simulation mode

◆ setEnableSpringAtZeroSpeed()

void MOMENTUM_NAMESPACE::LinearMotor::setEnableSpringAtZeroSpeed ( bool  flag)

When target speed is set to zero for the motor, the motor can be specified to act like a spring, keeping the current position.

Only available in simulation mode

Parameters
flag- If true, the motor will act like a spring if target speed == 0

◆ setForceLimit() [1/2]

bool MOMENTUM_NAMESPACE::LinearSecondaryJoint::setForceLimit ( double  lower,
double  upper 
)
inherited

Set the lower and upper force of the secondary constraint.

The unit is in Newton.

Both cannot be inf, or -inf, that will be ignored and the method will return false

Parameters
lower- the new available force of the constraint in the negative direction
upper- the new available force of the constraint in the positive direction

Only available in simulation mode

Returns
true if values are correct.

◆ setForceLimit() [2/2]

bool MOMENTUM_NAMESPACE::LinearSecondaryJoint::setForceLimit ( std::pair< double, double >  limit)
inherited

Set the lower and upper force of the secondary constraint.

The unit is in Newton.

Both cannot be inf, or -inf, that will be ignored and the method will return false

Parameters
limit- the new force range of the constraint

Only available in simulation mode

Returns
true if values are correct

◆ setTargetSpeed()

void MOMENTUM_NAMESPACE::LinearMotor::setTargetSpeed ( double  speed)

Set the target speed that the motor tries to reach using the available force.

In meters per second. Infinity is not a valid speed and will be ignored with a warning.

Parameters
speed- the new target speed of the motor

Only available in simulation mode