com.yobotics.simulationconstructionset.util.environments
Class ContactableStaticRobot

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Robot
      extended by com.yobotics.simulationconstructionset.util.environments.ContactableStaticRobot
All Implemented Interfaces:
Contactable, YoVariableHolder, java.io.Serializable
Direct Known Subclasses:
ContactableStaticCylinderRobot

public abstract class ContactableStaticRobot
extends Robot
implements Contactable

See Also:
Serialized Form

Constructor Summary
ContactableStaticRobot(java.lang.String name)
           
 
Method Summary
 void createAvailableContactPoints(int groupIdentifier, int totalContactPointsAvailable, double forceVectorScale, boolean addDynamicGraphicForceVectorsForceVectors)
           
 int getAndLockAvailableContactPoint()
           
 void getBodyTransformToWorld(javax.media.j3d.Transform3D transformToWorld)
           
 GroundContactPoint getLockedContactPoint(int contactPointIndex)
           
abstract  NullJoint getNullJoint()
           
 void unlockContactPoint(GroundContactPoint groundContactPoint)
           
 void 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
 
Methods inherited from interface com.yobotics.simulationconstructionset.util.ground.Contactable
closestIntersectionAndNormalAt, isClose, isPointOnOrInside
 

Constructor Detail

ContactableStaticRobot

public ContactableStaticRobot(java.lang.String name)
Method Detail

getNullJoint

public abstract NullJoint getNullJoint()

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

getBodyTransformToWorld

public void getBodyTransformToWorld(javax.media.j3d.Transform3D transformToWorld)