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Work on hinges.

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This commit is contained in:
Rod Kay
2025-09-05 02:43:49 +10:00
parent 61d6e359ae
commit 7c3ba40482
22 changed files with 2106 additions and 2259 deletions
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29
4-high/gel/source/joint/gel-hinge_joint.ads
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@@ -66,11 +66,14 @@ is
procedure destroy (Self : in out Item);
--------------
--- Attributes
--
function Angle (Self : in Item'Class) return Real;
function reference_Angle (Self : in Item) return Radians;
function Angle (Self : in Item) return Real;
overriding
function Physics (Self : in Item) return Joint.Physics_view;
@@ -81,11 +84,13 @@ is
relaxation_Factor : in Real := 1.0);
overriding
function Frame_A (Self : in Item) return Matrix_4x4;
overriding
function Frame_B (Self : in Item) return Matrix_4x4;
overriding
procedure Frame_A_is (Self : in out Item; Now : in Matrix_4x4);
overriding
procedure Frame_B_is (Self : in out Item; Now : in Matrix_4x4);
@@ -93,16 +98,27 @@ is
function Degrees_of_freedom (Self : in Item) return joint.degree_of_Freedom;
function Anchor_on_A (Self : in Item) return Vector_3;
function Anchor_on_B (Self : in Item) return Vector_3;
function pivot_Anchor (Self : in Item) return Vector_3;
function limit_Enabled (Self : in Item) return Boolean;
-- Bounds - limits the range of motion for a degree of freedom.
--
overriding
function low_Bound (Self : access Item; for_Degree : in joint.Degree_of_freedom) return Real;
overriding
procedure low_Bound_is (Self : access Item; for_Degree : in joint.Degree_of_freedom;
Now : in Real);
overriding
function high_Bound (Self : access Item; for_Degree : in joint.Degree_of_freedom) return Real;
overriding
procedure high_Bound_is (Self : access Item; for_Degree : in joint.Degree_of_freedom;
Now : in Real);
@@ -116,11 +132,14 @@ is
procedure Velocity_is (Self : in Item; for_Degree : in joint.Degree_of_freedom;
Now : in Real);
--------------
--- Operations
---------
--- Motor
--
-- Nil.
function motor_Enabled (Self : in Item) return Boolean;
function motor_Speed (Self : in Item) return Real;
function max_motor_Torque (Self : in Item) return Real;
@@ -130,6 +149,8 @@ private
record
Physics : access std_physics.Joint.hinge.item'Class;
pivot_Anchor : Vector_3;
low_Bound,
high_Bound : Real;