com.yobotics.simulationconstructionset.util.environments
Class ContactableSelectableBoxRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
com.yobotics.simulationconstructionset.util.environments.ContactableRobot
com.yobotics.simulationconstructionset.util.environments.ContactableSelectableBoxRobot
- All Implemented Interfaces:
- SelectableObject, Contactable, YoVariableHolder, java.io.Serializable, SelectedListener
public class ContactableSelectableBoxRobot
- extends ContactableRobot
- implements SelectableObject, SelectedListener
- See Also:
- Serialized Form
Method Summary |
void |
addDynamicGraphicForceVectorsToGroundContactPoints(double forceVectorScale,
AppearanceDefinition appearance,
DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)
|
void |
addDynamicGraphicForceVectorsToGroundContactPoints(int groupIdentifier,
double forceVectorScale,
AppearanceDefinition appearance,
DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)
|
void |
addSelectedListeners(SelectableObjectListener listener)
|
void |
closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack,
javax.vecmath.Vector3d normalToPack,
javax.vecmath.Point3d pointInWorldToCheck)
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static ContactableSelectableBoxRobot |
createContactableCardboardBoxRobot(java.lang.String name,
double length,
double width,
double height,
double mass)
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static ContactableSelectableBoxRobot |
createContactableWoodBoxRobot(java.lang.String name,
double length,
double width,
double height,
double mass)
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void |
getCurrentBox3d(FrameBox3d frameBoxToPack)
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FloatingJoint |
getFloatingJoint()
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double |
getHalfHeight()
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Direction |
getSelectedDirection()
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boolean |
isClose(javax.vecmath.Point3d pointInWorldToCheck)
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boolean |
isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
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void |
select()
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void |
selected(Graphics3DNode graphics3dNode,
ModifierKeyInterface modifierKeyHolder,
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 |
setMass(double mass)
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void |
setMomentOfInertia(double Ixx,
double Iyy,
double Izz)
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void |
unSelect(boolean reset)
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void |
update()
Returns a list of the YoVariables associated with this robot. |
Methods inherited from class com.yobotics.simulationconstructionset.util.environments.ContactableRobot |
createAvailableContactPoints, getAndLockAvailableContactPoint, getBodyTransformToWorld, getLockedContactPoint, getPosition, getVelocity, setAngularVelocityInBody, setPosition, setPosition, setPosition, setPositionAndVelocity, setPositionAndVelocity, setVelocity, 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, updateAllGroundContactPointVelocities, updateForPlayback, updateVelocities |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
ContactableSelectableBoxRobot
public ContactableSelectableBoxRobot(java.lang.String name,
double length,
double width,
double height,
double mass)
ContactableSelectableBoxRobot
public ContactableSelectableBoxRobot()
ContactableSelectableBoxRobot
public ContactableSelectableBoxRobot(java.lang.String name)
createContactableCardboardBoxRobot
public static ContactableSelectableBoxRobot createContactableCardboardBoxRobot(java.lang.String name,
double length,
double width,
double height,
double mass)
createContactableWoodBoxRobot
public static ContactableSelectableBoxRobot createContactableWoodBoxRobot(java.lang.String name,
double length,
double width,
double height,
double mass)
addDynamicGraphicForceVectorsToGroundContactPoints
public void addDynamicGraphicForceVectorsToGroundContactPoints(double forceVectorScale,
AppearanceDefinition appearance,
DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)
addDynamicGraphicForceVectorsToGroundContactPoints
public void addDynamicGraphicForceVectorsToGroundContactPoints(int groupIdentifier,
double forceVectorScale,
AppearanceDefinition appearance,
DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)
getFloatingJoint
public FloatingJoint getFloatingJoint()
- Specified by:
getFloatingJoint
in class ContactableRobot
isPointOnOrInside
public boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
- Specified by:
isPointOnOrInside
in interface Contactable
getCurrentBox3d
public void getCurrentBox3d(FrameBox3d frameBoxToPack)
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
setMass
public void setMass(double mass)
- Specified by:
setMass
in class ContactableRobot
setMomentOfInertia
public void setMomentOfInertia(double Ixx,
double Iyy,
double Izz)
- Specified by:
setMomentOfInertia
in class ContactableRobot
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 listener)
- Specified by:
addSelectedListeners
in interface SelectableObject
getSelectedDirection
public Direction getSelectedDirection()
update
public void update()
- Description copied from class:
Robot
- Returns a list of the YoVariables associated with this robot. This list does
not include variables belonging to its GroundContactModel or controllers.
- Overrides:
update
in class Robot
getHalfHeight
public double getHalfHeight()
selected
public void selected(Graphics3DNode graphics3dNode,
ModifierKeyInterface modifierKeyHolder,
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