Interface to manage the Joint object.
Depending on their type, joints have parameters or not, representing length or angle:
| Joint type | Parameter1 | Parameter2 |
| Revolute | Angle | |
| Prismatic | Length | |
| Cylindrical | Length | Angle |
| Screw | Length | Angle |
| Gear | Angle | Angle |
| Rack | Length | Angle |
| Cable | Length | Length |
| PointOnCurve | Length | |
| RollCurve | Length | |
Each parameter can have a lower and/or an upper limit.
Methods are provided to set, unset and return the limits for each parameter.
Properties
-
Property CurrentValue1() As (Read Only)
-
Gets the joint current value for first parameter.
- Parameters:
-
- oCurrentValue
- This property is read only because current value modification is done by solver
-
Property CurrentValue2() As (Read Only)
-
Gets the joint current value for second parameter.
- Parameters:
-
- oCurrentValue
- This property is read only because current value modification is done by solver
-
Property LowerLimit1() As
-
Gets or returns the lower limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
-
Property LowerLimit2() As
-
Gets or returns the lower limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
-
Property Type() As (Read Only)
-
Returns the joint type.
- Parameters:
-
- oType
- The type of the joint
This property is read only because the construction of the object depends on the type.
-
Property UpperLimit1() As
-
Gets or returns the upper limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
-
Property UpperLimit2() As
-
Gets or returns the upper limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
Methods
-
Sub UnsetLowerLimit1()
-
Unsets the lower limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
-
Sub UnsetLowerLimit2()
-
Unsets the lower limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
-
Sub UnsetUpperLimit1()
-
Unsets the upper limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
-
Sub UnsetUpperLimit2()
-
Unsets the upper limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit