com.yobotics.simulationconstructionset.util.environments
Class ContactableToroidRobot

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Robot
      extended by com.yobotics.simulationconstructionset.util.environments.ContactablePinJointRobot
          extended by com.yobotics.simulationconstructionset.util.environments.ContactableToroidRobot
All Implemented Interfaces:
SelectableObject, Contactable, YoVariableHolder, java.io.Serializable, SelectedListener

public class ContactableToroidRobot
extends ContactablePinJointRobot
implements SelectableObject, SelectedListener

See Also:
Serialized Form

Field Summary
static double DEFAULT_RADIUS
           
static double DEFAULT_THICKNESS
           
 
Constructor Summary
ContactableToroidRobot(java.lang.String name, javax.media.j3d.Transform3D pinJointTransformFromWorld)
           
ContactableToroidRobot(java.lang.String name, javax.media.j3d.Transform3D pintJointTransform, double steeringWheelRadius, double steeringWheelThickness, double mass)
           
 
Method Summary
 void addDynamicGraphicForceVectorsToGroundContactPoints(double forceVectorScale, AppearanceDefinition appearance, DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)
           
 void addDynamicGraphicForceVectorsToGroundContactPoints(int groupIdentifier, double forceVectorScale, AppearanceDefinition appearance, DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)
           
 void addSelectedListeners(SelectableObjectListener selectedListener)
           
 void closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack, javax.vecmath.Vector3d normalToPack, javax.vecmath.Point3d pointInWorldToCheck)
           
 PinJoint getPinJoint()
           
 Link getWheelLink()
           
 boolean isClose(javax.vecmath.Point3d pointInWorldToCheck)
           
 boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
           
 void select()
           
 void selected(Graphics3DNode graphics3dNode, ModifierKeyInterface modifierKeyInterface, javax.vecmath.Point3d location, javax.vecmath.Point3d cameraLocation, javax.vecmath.Quat4d cameraRotation)
          This function is called when a point on the screen is selected while holding the modifier key defined with getModifierKey()
 void setDamping(double desiredDamping)
           
 void setMass(double mass)
           
 void setMomentOfInertia(double Ixx, double Iyy, double Izz)
           
 void setTau(double desiredTau)
           
 void unSelect(boolean reset)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.util.environments.ContactablePinJointRobot
createAvailableContactPoints, getAndLockAvailableContactPoint, getBodyTransformToWorld, getLockedContactPoint, getPosition, getVelocity, setPosition, setPositionAndVelocity, setVelocity, unlockContactPoint, updateContactPoints
 
Methods inherited from class com.yobotics.simulationconstructionset.Robot
addDynamicGraphicObjectsListRegistry, addFunctionToIntegrate, addRootJoint, addStaticLink, addStaticLinkGraphics, addStaticLinkGraphics, addYoVariableRegistry, computeAngularMomentum, computeAngularMomentum, computeCenterOfMass, computeCenterOfMass, computeCenterOfPressure, computeCOMMomentum, computeCOMMomentum, computeGravitationalPotentialEnergy, computeGravitationalPotentialEnergy, computeLinearMomentum, computeLinearMomentum, computeRotationalKineticEnergy, computeRotationalKineticEnergy, computeTranslationalKineticEnergy, computeTranslationalKineticEnergy, createAllVarLists, decideGroundContactPointsInContact, doAfterControlBeforeDynamics, doDynamicsAndIntegrate, doDynamicsButDoNotIntegrate, getAllExternalForcePoints, getAllGroundContactPoints, getAllKinematicPoints, getAllOneDegreeOfFreedomJoints, getAllVariables, getAllVariablesArray, getCameraMountList, getControllers, getGravity, getGravityX, getGravityY, getGravityZ, getGroundContactModel, getGroundContactPoints, getIMUMounts, getName, getRobotsYoVariableRegistry, getRootJoints, getSensors, getSensors, getSimulationRewoundListeners, getStaticLinkGraphics, getTime, getVariable, getVariable, getVariables, getVariables, getVariables, getYoTime, hasUniqueVariable, hasUniqueVariable, setBodyExternalForcePoint, setController, setController, setController, setControllersAndCallInitialization, setDynamic, setDynamicIntegrationMethod, setGravity, setGravity, setGravity, setGroundContactModel, setTime, toString, update, updateAllGroundContactPointVelocities, updateForPlayback, updateVelocities
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

DEFAULT_RADIUS

public static final double DEFAULT_RADIUS
See Also:
Constant Field Values

DEFAULT_THICKNESS

public static final double DEFAULT_THICKNESS
See Also:
Constant Field Values
Constructor Detail

ContactableToroidRobot

public ContactableToroidRobot(java.lang.String name,
                              javax.media.j3d.Transform3D pinJointTransformFromWorld)

ContactableToroidRobot

public ContactableToroidRobot(java.lang.String name,
                              javax.media.j3d.Transform3D pintJointTransform,
                              double steeringWheelRadius,
                              double steeringWheelThickness,
                              double mass)
Method Detail

getWheelLink

public Link getWheelLink()

addDynamicGraphicForceVectorsToGroundContactPoints

public void addDynamicGraphicForceVectorsToGroundContactPoints(double forceVectorScale,
                                                               AppearanceDefinition appearance,
                                                               DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)

addDynamicGraphicForceVectorsToGroundContactPoints

public void addDynamicGraphicForceVectorsToGroundContactPoints(int groupIdentifier,
                                                               double forceVectorScale,
                                                               AppearanceDefinition appearance,
                                                               DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)

getPinJoint

public PinJoint getPinJoint()
Specified by:
getPinJoint in class ContactablePinJointRobot

isPointOnOrInside

public boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
Specified by:
isPointOnOrInside in interface Contactable

isClose

public boolean isClose(javax.vecmath.Point3d pointInWorldToCheck)
Specified by:
isClose in interface Contactable

closestIntersectionAndNormalAt

public void closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack,
                                           javax.vecmath.Vector3d normalToPack,
                                           javax.vecmath.Point3d pointInWorldToCheck)
Specified by:
closestIntersectionAndNormalAt in interface Contactable

selected

public void selected(Graphics3DNode graphics3dNode,
                     ModifierKeyInterface modifierKeyInterface,
                     javax.vecmath.Point3d location,
                     javax.vecmath.Point3d cameraLocation,
                     javax.vecmath.Quat4d cameraRotation)
Description copied from interface: SelectedListener
This function is called when a point on the screen is selected while holding the modifier key defined with getModifierKey()

Specified by:
selected in interface SelectedListener
Parameters:
graphics3dNode - The node that was selected, null if none selected
location - location of the selected point
cameraLocation - camera position
cameraRotation - camera view direction

select

public void select()
Specified by:
select in interface SelectableObject

unSelect

public void unSelect(boolean reset)
Specified by:
unSelect in interface SelectableObject

addSelectedListeners

public void addSelectedListeners(SelectableObjectListener selectedListener)
Specified by:
addSelectedListeners in interface SelectableObject

setMass

public void setMass(double mass)
Specified by:
setMass in class ContactablePinJointRobot

setMomentOfInertia

public void setMomentOfInertia(double Ixx,
                               double Iyy,
                               double Izz)
Specified by:
setMomentOfInertia in class ContactablePinJointRobot

setTau

public void setTau(double desiredTau)

setDamping

public void setDamping(double desiredDamping)