com.yobotics.simulationconstructionset.util.perturbance
Class LaunchedBall

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Joint
      extended by com.yobotics.simulationconstructionset.FloatingJoint
          extended by com.yobotics.simulationconstructionset.util.perturbance.LaunchedBall
All Implemented Interfaces:
java.io.Serializable, CommonJoint

public class LaunchedBall
extends FloatingJoint

See Also:
Serialized Form

Field Summary
 
Fields inherited from class com.yobotics.simulationconstructionset.Joint
MAX_ROT_ACCEL, MAX_TRANS_ACCEL
 
Constructor Summary
LaunchedBall(java.lang.String name, Robot robot, double collisionDistance, double density)
           
 
Method Summary
 void bounceAwayAfterCollision()
           
 javax.vecmath.Vector3d getDirection()
           
 boolean isCloseToFinalPosition()
           
 void launch(javax.vecmath.Point3d initialPosition, javax.vecmath.Point3d finalPosition, double mass, double velocityMagnitude)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.FloatingJoint
getAngularAcceleration, getAngularAccelerationInBody, getAngularAccelerationInBody, getAngularAccelerationX, getAngularAccelerationY, getAngularAccelerationZ, getAngularVelocity, getAngularVelocityInBody, getAngularVelocityInBody, getAngularVelocityX, getAngularVelocityY, getAngularVelocityZ, getLinearAcceleration, getLinearAccelerationInWorld, getPosition, getPosition, getPositionAndVelocity, getPositionAndVelocity, getQddx, getQddy, getQddz, getQdx, getQdy, getQdz, getQuaternion, getQuaternion, getQuaternionQs, getQuaternionQx, getQuaternionQy, getQuaternionQz, getQx, getQy, getQz, getVelocity, getVelocity, getVelocity, getYawPitchRoll, setAcceleration, setAngularAccelerationInBody, setAngularVelocityInBody, setPosition, setPosition, setPositionAndVelocity, setPositionAndVelocity, setQuaternion, setRotation, setRotationAndTranslation, setVelocity, setVelocity, setYawPitchRoll, setYawPitchRoll
 
Methods inherited from class com.yobotics.simulationconstructionset.Joint
addCameraMount, addExternalForcePoint, addGroundContactPoint, addGroundContactPoint, addIMUMount, addJoint, addKinematicPoint, addSensor, changeOffsetVector, changeOffsetVector, freezeFrame, freezeNextFrame, get3DRotation, getAngularAccelerationsInBodyFrame, getAngularAccelerationsInWorld, getAngularVelocityInWorld, getChildrenJoints, getExternalForcePoints, getGroundContactPointGroup, getGroundContactPointGroup, getJointAxis, getJointTransform3D, getKinematicPoints, getLinearAccelerationInBody, getLinearAccelerationInWorld, getLinearVelocityInBody, getLinearVelocityInWorld, getLink, getName, getOffset, getOffsetTransform3D, getParentJoint, getRotationToWorld, getRotationToWorld, getTransformToWorld, getTransformToWorld, getTranslationToWorld, getUnitVector, getXYZToWorld, getYawPitchRollToWorld, isDynamic, recursiveDecideGroundContactPointsInContact, recursiveGetAllGroundContactPoints, recursiveGetChildrenJoints, recursiveGetOneDegreeOfFreedomJoints, recursiveUpdateAllGroundContactPointVelocities, resetFreezeFrame, setDynamic, setLink, toString
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

LaunchedBall

public LaunchedBall(java.lang.String name,
                    Robot robot,
                    double collisionDistance,
                    double density)
Method Detail

isCloseToFinalPosition

public boolean isCloseToFinalPosition()

launch

public void launch(javax.vecmath.Point3d initialPosition,
                   javax.vecmath.Point3d finalPosition,
                   double mass,
                   double velocityMagnitude)

bounceAwayAfterCollision

public void bounceAwayAfterCollision()

getDirection

public javax.vecmath.Vector3d getDirection()