com.yobotics.simulationconstructionset.util.environments
Class ContactableToroidRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
com.yobotics.simulationconstructionset.util.environments.ContactablePinJointRobot
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
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 |
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
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)
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 selectedlocation
- location of the selected pointcameraLocation
- camera positioncameraRotation
- 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)