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Used in conjunction with the MultiBody object, Link objects are individual pieces of an articulated body.To create a MultiBody object, first create links for all the pieces of the articulated body, then connect them together using a Joint object--several different joint types exist, and each type has its own class. See Joint for more information on connecting Link objects.
Previous to version 1.5, methods were available in this object for linking objects and controlling joints. These methods still exist for the sake of backwards compatibility, but they are no longer documented and their use is discouraged. See Joint and its subclasses for the currently supported methods.
Getting Information About This Link
Getting the Light Exposure of This Link
Setting Collision Properties
Associating a Link With a Shape Object
Getting Information About This Link
- check-for-penetrations
- get-bound-maximum
- get-bound-minimum
- get-location
- get-mass
- get-rotation
- get-shape
Changing the Appearance of a Link
Determines whether this link is currently penetrating with other links in the simulation. This is not meant as a general purpose collision detection tool -- it is meant to detect potentially troublesome configurations of links when they are created.
In order for this method to work properly, the Link must be part of a MultiBody. Links that are not associated with MultiBody objects do not appear in the simulated world, and thus cannot be tested for collisions.
Returns the vector representing the maximum X, Y and Z locations of points on this link.
Returns the vector representing the minimum X, Y and Z locations of points on this link.
When used in conjunction with light exposure detection (enable-light-exposure-detection (Control)), this method returns the level of light exposure on this stationary object.
Returns the current location of this individual link (as opposed to the entire Multibody).
Returns the mass of this Link.
Returns the current rotation of this individual link (as opposed to the entire Multibody).
Returns the shape object that this link is associated with.
Deactivates the spring associated with this joint.
Use of this method is now depreciated. Use set-shape instead.
Sets the color of this link to theColor.
The vector elements of theColor are interpreted as red, green, and blue values, on a scale from 0.0 to 1.0.
The Link object must be initialized with the method set before the color can be modified with this method.
Sets the "coefficient of restitution" a value which determines the elasticity of the object in a collision. Valid values range from 0.0 to 1.0, with 0.0 representing a totally inelastic collision (such as a lump of clay) while 1.0 represents a totally (and unrealistically) elastic collision (such as a rubber ball).
Sets the "tangential coefficient of restitution", a frictional version of the "coefficient of restitution" described in the documentation for set-e. The value ranges from -1.0 to 1.0. Negative values mean that friction pushes against the sliding object.
Sets the coefficient of friction to newMu.
Sets the shape of this link to theShape. This method must be called with a valid Shape object before this object is linked.
Enables this joint's spring. The spring is a force which acts to attempt to keep the joint at a certain position, specified by theLength. The actual force applied is specified with theStrength and is proportional to the distance from theLength.
A spring can also be set to have a minimum and maximum value (instead of a single "natural" length) using the method set-double-spring.
To revert to the default behavior of no spring acting on the joint, use the method remove-spring.
Sets the texture of this link to theTexture.
The texture must be one of the built-in textures, or it must have been loaded with the image loading methods in Control.
The Link object must be initialized with the method set before the color can be modified with this method.