com.yobotics.simulationconstructionset.util.environments
Class ContactableSphereRobot

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Robot
      extended by com.yobotics.simulationconstructionset.util.environments.ContactableRobot
          extended by com.yobotics.simulationconstructionset.util.environments.ContactableSphereRobot
All Implemented Interfaces:
Contactable, YoVariableHolder, java.io.Serializable

public class ContactableSphereRobot
extends ContactableRobot

See Also:
Serialized Form

Constructor Summary
ContactableSphereRobot()
           
ContactableSphereRobot(java.lang.String name)
           
ContactableSphereRobot(java.lang.String name, double radius, double mass)
           
 
Method Summary
 void closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack, javax.vecmath.Vector3d normalToPack, javax.vecmath.Point3d pointInWorldToCheck)
           
 FloatingJoint getFloatingJoint()
           
 boolean isClose(javax.vecmath.Point3d pointInWorldToCheck)
           
 boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
           
 void setMass(double mass)
           
 void setMomentOfInertia(double Ixx, double Iyy, double Izz)
           
 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
 

Constructor Detail

ContactableSphereRobot

public ContactableSphereRobot()

ContactableSphereRobot

public ContactableSphereRobot(java.lang.String name)

ContactableSphereRobot

public ContactableSphereRobot(java.lang.String name,
                              double radius,
                              double mass)
Method Detail

isPointOnOrInside

public boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)

isClose

public boolean isClose(javax.vecmath.Point3d pointInWorldToCheck)

closestIntersectionAndNormalAt

public void closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack,
                                           javax.vecmath.Vector3d normalToPack,
                                           javax.vecmath.Point3d pointInWorldToCheck)

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

getFloatingJoint

public FloatingJoint getFloatingJoint()
Specified by:
getFloatingJoint in class ContactableRobot

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