com.yobotics.simulationconstructionset.util.ground
Class ObstacleCourse

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.ground.ObstacleCourse
All Implemented Interfaces:
GroundProfile, HeightMap

public class ObstacleCourse
extends java.lang.Object
implements GroundProfile


Constructor Summary
ObstacleCourse()
           
 
Method Summary
 void addBox(double xStart, double yStart, double xEnd, double yEnd, double height, int lengthDivisions, int widthDivisions)
           
 void addBox(double xStart, double yStart, double xEnd, double yEnd, double height, int lengthDivisions, int widthDivisions, AppearanceDefinition appearance)
           
 void addCone(double xMiddle, double yMiddle, double bottomRadius, double topRadius, double height)
           
 void addCone(double xMiddle, double yMiddle, double bottomRadius, double topRadius, double height, AppearanceDefinition appearance)
           
 void addRamp(double xStart, double yStart, double xEnd, double yEnd, double height)
           
 void addRamp(double xStart, double yStart, double xEnd, double yEnd, double height, AppearanceDefinition appearance)
           
 void addTerrainObject(TerrainObject object)
           
 void closestIntersectionAndNormalAt(double x, double y, double z, javax.vecmath.Point3d intersection, javax.vecmath.Vector3d normal)
           
 void closestIntersectionTo(double x, double y, double z, javax.vecmath.Point3d intersection)
           
 Graphics3DObject getLink()
           
 java.util.ArrayList<TerrainObject> getTerrainObjects()
           
 double getXMax()
           
 double getXMin()
           
 double getXTiles()
           
 double getYMax()
           
 double getYMin()
           
 double getYTiles()
           
 double heightAt(double x_world, double y_world, double z_world)
           
 boolean isClose(double x, double y, double z)
           
 void surfaceNormalAt(double x_world, double y_world, double z_world, javax.vecmath.Vector3d normal)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ObstacleCourse

public ObstacleCourse()
Method Detail

addBox

public void addBox(double xStart,
                   double yStart,
                   double xEnd,
                   double yEnd,
                   double height,
                   int lengthDivisions,
                   int widthDivisions,
                   AppearanceDefinition appearance)

addBox

public void addBox(double xStart,
                   double yStart,
                   double xEnd,
                   double yEnd,
                   double height,
                   int lengthDivisions,
                   int widthDivisions)

addCone

public void addCone(double xMiddle,
                    double yMiddle,
                    double bottomRadius,
                    double topRadius,
                    double height,
                    AppearanceDefinition appearance)

addCone

public void addCone(double xMiddle,
                    double yMiddle,
                    double bottomRadius,
                    double topRadius,
                    double height)

addRamp

public void addRamp(double xStart,
                    double yStart,
                    double xEnd,
                    double yEnd,
                    double height,
                    AppearanceDefinition appearance)

addRamp

public void addRamp(double xStart,
                    double yStart,
                    double xEnd,
                    double yEnd,
                    double height)

addTerrainObject

public void addTerrainObject(TerrainObject object)

getTerrainObjects

public java.util.ArrayList<TerrainObject> getTerrainObjects()

getLink

public Graphics3DObject getLink()

heightAt

public double heightAt(double x_world,
                       double y_world,
                       double z_world)
Specified by:
heightAt in interface GroundProfile
Specified by:
heightAt in interface HeightMap

surfaceNormalAt

public void surfaceNormalAt(double x_world,
                            double y_world,
                            double z_world,
                            javax.vecmath.Vector3d normal)
Specified by:
surfaceNormalAt in interface GroundProfile

closestIntersectionTo

public void closestIntersectionTo(double x,
                                  double y,
                                  double z,
                                  javax.vecmath.Point3d intersection)
Specified by:
closestIntersectionTo in interface GroundProfile

closestIntersectionAndNormalAt

public void closestIntersectionAndNormalAt(double x,
                                           double y,
                                           double z,
                                           javax.vecmath.Point3d intersection,
                                           javax.vecmath.Vector3d normal)
Specified by:
closestIntersectionAndNormalAt in interface GroundProfile

isClose

public boolean isClose(double x,
                       double y,
                       double z)
Specified by:
isClose in interface GroundProfile

getXMin

public double getXMin()
Specified by:
getXMin in interface HeightMap

getYMin

public double getYMin()
Specified by:
getYMin in interface HeightMap

getXMax

public double getXMax()
Specified by:
getXMax in interface HeightMap

getYMax

public double getYMax()
Specified by:
getYMax in interface HeightMap

getXTiles

public double getXTiles()
Specified by:
getXTiles in interface HeightMap

getYTiles

public double getYTiles()
Specified by:
getYTiles in interface HeightMap