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<h1>iODEJointState Struct Reference</h1><!-- doxytag: class="iODEJointState" --><!-- doxytag: inherits="iBase" -->General joint state.
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="ode_8h-source.html">ivaria/ode.h</a>></code>
<p>
<div class="dynheader">
Inheritance diagram for iODEJointState:</div>
<div class="dynsection">
<p><center><img src="structiODEJointState__inherit__graph.png" border="0" usemap="#iODEJointState__inherit__map" alt="Inheritance graph"></center>
<map name="iODEJointState__inherit__map">
<area shape="rect" href="structiBase.html" title="This is the basic interface: all other interfaces should be derived from this one..." alt="" coords="36,7,92,33"></map>
<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
<p>
<a href="structiODEJointState-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#a66e3cb5ae7238eca93d290f166050ee">GetBounce</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the bouncyness of the stops. <a href="#a66e3cb5ae7238eca93d290f166050ee"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#8d463ea767d8d137af1dc2c9a63032ae">GetCFM</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the constraint force mixing (CFM) value for joint used when not at a stop. <a href="#8d463ea767d8d137af1dc2c9a63032ae"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#171eb5a5020df56f462409dcf74207a4">GetFudgeFactor</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the fudge factor. <a href="#171eb5a5020df56f462409dcf74207a4"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#de894bfc35dba26c3a0acc3bc0f5ad9b">GetHiStop</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get high stop angle or position. <a href="#de894bfc35dba26c3a0acc3bc0f5ad9b"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#fe55b35235fa8157a2d47cdc5dea4611">GetLoStop</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get low stop angle or position. <a href="#fe55b35235fa8157a2d47cdc5dea4611"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#8c4977e1c11a555a9ad4a8aa77414602">GetMaxForce</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum force or torque that the motor will use to achieve the desired velocity. <a href="#8c4977e1c11a555a9ad4a8aa77414602"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#7ba67856d639ffcfd905e61e6f3305fb">GetStopCFM</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the constraint force mixing (CFM) value for joint used by the stops. <a href="#7ba67856d639ffcfd905e61e6f3305fb"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#d3e53b20baab7e167efe5892ee59580e">GetStopERP</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the error reduction parameter (ERP) used by the stops. <a href="#d3e53b20baab7e167efe5892ee59580e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#50650280550756f5183e9a1c2f7f0b33">GetSuspensionCFM</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get suspension constraint force mixing (CFM) value. <a href="#50650280550756f5183e9a1c2f7f0b33"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#b1c698d8526644e03fbff9cded4dd79b">GetSuspensionERP</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get suspension error reduction parameter (ERP). <a href="#b1c698d8526644e03fbff9cded4dd79b"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classcsVector3.html">csVector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#331fdcc77865141cdac109c60e94f16a">GetVel</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get desired motor velocity (this will be an angular or linear velocity). <a href="#331fdcc77865141cdac109c60e94f16a"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#933839e4e9121d38c87fcb26e148961f">SetBounce</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the bouncyness of the stops. <a href="#933839e4e9121d38c87fcb26e148961f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#711748fbb50668c19aad45b8bd16f156">SetCFM</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the constraint force mixing (CFM) value for joint used when not at a stop. <a href="#711748fbb50668c19aad45b8bd16f156"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#625e12b68b39857640d63485c2b26649">SetFMax</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the maximum force or torque that the motor will use to achieve the desired velocity. <a href="#625e12b68b39857640d63485c2b26649"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#1f8d85bf445c385642d3690f9bb32803">SetFudgeFactor</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the fudge factor. <a href="#1f8d85bf445c385642d3690f9bb32803"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#fe38bdd13bbb5e5c18f90f420141a238">SetHiStop</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set high stop angle or position. <a href="#fe38bdd13bbb5e5c18f90f420141a238"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#4f076320a018daefee5390880c0be0d7">SetLoStop</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set low stop angle or position. <a href="#4f076320a018daefee5390880c0be0d7"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#9d5078f5cd3d6554476f75090c8b8d1c">SetStopCFM</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the constraint force mixing (CFM) value for joint used by the stops. <a href="#9d5078f5cd3d6554476f75090c8b8d1c"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#cbd90f0e33686aa639599996ec5028e5">SetStopERP</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the error reduction parameter (ERP) used by the stops. <a href="#cbd90f0e33686aa639599996ec5028e5"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#6a87c7a17e1499bd379780ae27fa19f0">SetSuspensionCFM</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set suspension constraint force mixing (CFM) value. <a href="#6a87c7a17e1499bd379780ae27fa19f0"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#c14f369db2c2dfe596916c0b58ab8797">SetSuspensionERP</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set suspension error reduction parameter (ERP). <a href="#c14f369db2c2dfe596916c0b58ab8797"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structiODEJointState.html#057a23eb0df4660f8363043be3cc2e56">SetVel</a> (const <a class="el" href="classcsVector3.html">csVector3</a> &value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set desired motor velocity (this will be an angular or linear velocity). <a href="#057a23eb0df4660f8363043be3cc2e56"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
General joint state.
<p>
Here
<p>Definition at line <a class="el" href="ode_8h-source.html#l00332">332</a> of file <a class="el" href="ode_8h-source.html">ode.h</a>.</p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="a66e3cb5ae7238eca93d290f166050ee"></a><!-- doxytag: member="iODEJointState::GetBounce" ref="a66e3cb5ae7238eca93d290f166050ee" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetBounce </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the bouncyness of the stops.
<p>
</div>
</div><p>
<a class="anchor" name="8d463ea767d8d137af1dc2c9a63032ae"></a><!-- doxytag: member="iODEJointState::GetCFM" ref="8d463ea767d8d137af1dc2c9a63032ae" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetCFM </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the constraint force mixing (CFM) value for joint used when not at a stop.
<p>
</div>
</div><p>
<a class="anchor" name="171eb5a5020df56f462409dcf74207a4"></a><!-- doxytag: member="iODEJointState::GetFudgeFactor" ref="171eb5a5020df56f462409dcf74207a4" args="()=0" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetFudgeFactor </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the fudge factor.
<p>
</div>
</div><p>
<a class="anchor" name="de894bfc35dba26c3a0acc3bc0f5ad9b"></a><!-- doxytag: member="iODEJointState::GetHiStop" ref="de894bfc35dba26c3a0acc3bc0f5ad9b" args="()=0" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetHiStop </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get high stop angle or position.
<p>
</div>
</div><p>
<a class="anchor" name="fe55b35235fa8157a2d47cdc5dea4611"></a><!-- doxytag: member="iODEJointState::GetLoStop" ref="fe55b35235fa8157a2d47cdc5dea4611" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetLoStop </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get low stop angle or position.
<p>
</div>
</div><p>
<a class="anchor" name="8c4977e1c11a555a9ad4a8aa77414602"></a><!-- doxytag: member="iODEJointState::GetMaxForce" ref="8c4977e1c11a555a9ad4a8aa77414602" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetMaxForce </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the maximum force or torque that the motor will use to achieve the desired velocity.
<p>
</div>
</div><p>
<a class="anchor" name="7ba67856d639ffcfd905e61e6f3305fb"></a><!-- doxytag: member="iODEJointState::GetStopCFM" ref="7ba67856d639ffcfd905e61e6f3305fb" args="()=0" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetStopCFM </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the constraint force mixing (CFM) value for joint used by the stops.
<p>
</div>
</div><p>
<a class="anchor" name="d3e53b20baab7e167efe5892ee59580e"></a><!-- doxytag: member="iODEJointState::GetStopERP" ref="d3e53b20baab7e167efe5892ee59580e" args="()=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetStopERP </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get the error reduction parameter (ERP) used by the stops.
<p>
</div>
</div><p>
<a class="anchor" name="50650280550756f5183e9a1c2f7f0b33"></a><!-- doxytag: member="iODEJointState::GetSuspensionCFM" ref="50650280550756f5183e9a1c2f7f0b33" args="()=0" -->
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetSuspensionCFM </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get suspension constraint force mixing (CFM) value.
<p>
</div>
</div><p>
<a class="anchor" name="b1c698d8526644e03fbff9cded4dd79b"></a><!-- doxytag: member="iODEJointState::GetSuspensionERP" ref="b1c698d8526644e03fbff9cded4dd79b" args="()=0" -->
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetSuspensionERP </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get suspension error reduction parameter (ERP).
<p>
</div>
</div><p>
<a class="anchor" name="331fdcc77865141cdac109c60e94f16a"></a><!-- doxytag: member="iODEJointState::GetVel" ref="331fdcc77865141cdac109c60e94f16a" args="()=0" -->
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<td class="memname">virtual <a class="el" href="classcsVector3.html">csVector3</a> iODEJointState::GetVel </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get desired motor velocity (this will be an angular or linear velocity).
<p>
</div>
</div><p>
<a class="anchor" name="933839e4e9121d38c87fcb26e148961f"></a><!-- doxytag: member="iODEJointState::SetBounce" ref="933839e4e9121d38c87fcb26e148961f" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetBounce </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
</tr>
</table>
</div>
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Set the bouncyness of the stops.
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This is a restitution parameter in the range 0..1. 0 means the stops are not bouncy at all, 1 means maximum bouncyness.
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<a class="anchor" name="711748fbb50668c19aad45b8bd16f156"></a><!-- doxytag: member="iODEJointState::SetCFM" ref="711748fbb50668c19aad45b8bd16f156" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetCFM </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set the constraint force mixing (CFM) value for joint used when not at a stop.
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<a class="anchor" name="625e12b68b39857640d63485c2b26649"></a><!-- doxytag: member="iODEJointState::SetFMax" ref="625e12b68b39857640d63485c2b26649" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetFMax </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set the maximum force or torque that the motor will use to achieve the desired velocity.
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This must always be greater than or equal to zero. Setting this to zero turns off the motor.
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<a class="anchor" name="1f8d85bf445c385642d3690f9bb32803"></a><!-- doxytag: member="iODEJointState::SetFudgeFactor" ref="1f8d85bf445c385642d3690f9bb32803" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetFudgeFactor </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set the fudge factor.
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The current joint stop/motor implementation has a small problem: when the joint is at one stop and the motor is set to move it away from the stop, too much force may be applied for one time step, causing a ``jumping'' motion. This fudge factor is used to scale this excess force. It should have a value between zero and one (the default value). If the jumping motion is too visible in a joint, the value can be reduced. Making this value too small can prevent the motor from being able to move the joint away from a stop.
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<a class="anchor" name="fe38bdd13bbb5e5c18f90f420141a238"></a><!-- doxytag: member="iODEJointState::SetHiStop" ref="fe38bdd13bbb5e5c18f90f420141a238" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetHiStop </td>
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<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set high stop angle or position.
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For rotational joints, this stop must be less than pi to be effective. If the high stop is less than the low stop then both stops will be ineffective.
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<a class="anchor" name="4f076320a018daefee5390880c0be0d7"></a><!-- doxytag: member="iODEJointState::SetLoStop" ref="4f076320a018daefee5390880c0be0d7" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetLoStop </td>
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<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set low stop angle or position.
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For rotational joints, this stop must be greater than - pi to be effective.
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<a class="anchor" name="9d5078f5cd3d6554476f75090c8b8d1c"></a><!-- doxytag: member="iODEJointState::SetStopCFM" ref="9d5078f5cd3d6554476f75090c8b8d1c" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetStopCFM </td>
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<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set the constraint force mixing (CFM) value for joint used by the stops.
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Together with the ERP value this can be used to get spongy or soft stops. Note that this is intended for unpowered joints, it does not really work as expected when a powered joint reaches its limit.
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<a class="anchor" name="cbd90f0e33686aa639599996ec5028e5"></a><!-- doxytag: member="iODEJointState::SetStopERP" ref="cbd90f0e33686aa639599996ec5028e5" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetStopERP </td>
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<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
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Set the error reduction parameter (ERP) used by the stops.
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<a class="anchor" name="6a87c7a17e1499bd379780ae27fa19f0"></a><!-- doxytag: member="iODEJointState::SetSuspensionCFM" ref="6a87c7a17e1499bd379780ae27fa19f0" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetSuspensionCFM </td>
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<td class="paramname"> <em>value</em> </td>
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<td width="100%"><code> [pure virtual]</code></td>
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Set suspension constraint force mixing (CFM) value.
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<a class="anchor" name="c14f369db2c2dfe596916c0b58ab8797"></a><!-- doxytag: member="iODEJointState::SetSuspensionERP" ref="c14f369db2c2dfe596916c0b58ab8797" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetSuspensionERP </td>
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<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
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Set suspension error reduction parameter (ERP).
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<a class="anchor" name="057a23eb0df4660f8363043be3cc2e56"></a><!-- doxytag: member="iODEJointState::SetVel" ref="057a23eb0df4660f8363043be3cc2e56" args="(const csVector3 &value)=0" -->
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<td class="memname">virtual void iODEJointState::SetVel </td>
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<td class="paramtype">const <a class="el" href="classcsVector3.html">csVector3</a> & </td>
<td class="paramname"> <em>value</em> </td>
<td> ) </td>
<td width="100%"><code> [pure virtual]</code></td>
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Set desired motor velocity (this will be an angular or linear velocity).
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<hr>The documentation for this struct was generated from the following file:<ul>
<li>ivaria/<a class="el" href="ode_8h-source.html">ode.h</a></ul>
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