com.yobotics.simulationconstructionset.util.environments
Class ArticulatedContactable

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.environments.ArticulatedContactable
All Implemented Interfaces:
Contactable

public abstract class ArticulatedContactable
extends java.lang.Object
implements Contactable


Constructor Summary
ArticulatedContactable(java.lang.String name, Robot robot)
           
 
Method Summary
 void createAvailableContactPoints(int groupIdentifier, int totalContactPointsAvailable, double forceVectorScale, boolean addDynamicGraphicForceVectorsForceVectors)
           
 int getAndLockAvailableContactPoint()
           
abstract  Joint getJoint()
           
 GroundContactPoint getLockedContactPoint(int contactPointIndex)
           
 void unlockContactPoint(GroundContactPoint groundContactPoint)
           
 void updateContactPoints()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 
Methods inherited from interface com.yobotics.simulationconstructionset.util.ground.Contactable
closestIntersectionAndNormalAt, isClose, isPointOnOrInside
 

Constructor Detail

ArticulatedContactable

public ArticulatedContactable(java.lang.String name,
                              Robot robot)
Method Detail

getJoint

public abstract Joint getJoint()

createAvailableContactPoints

public void createAvailableContactPoints(int groupIdentifier,
                                         int totalContactPointsAvailable,
                                         double forceVectorScale,
                                         boolean addDynamicGraphicForceVectorsForceVectors)

getAndLockAvailableContactPoint

public int getAndLockAvailableContactPoint()
Specified by:
getAndLockAvailableContactPoint in interface Contactable

unlockContactPoint

public void unlockContactPoint(GroundContactPoint groundContactPoint)
Specified by:
unlockContactPoint in interface Contactable

getLockedContactPoint

public GroundContactPoint getLockedContactPoint(int contactPointIndex)
Specified by:
getLockedContactPoint in interface Contactable

updateContactPoints

public void updateContactPoints()
Specified by:
updateContactPoints in interface Contactable