com.yobotics.simulationconstructionset.util.environments
Class ContactableSphereRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
com.yobotics.simulationconstructionset.util.environments.ContactableRobot
com.yobotics.simulationconstructionset.util.environments.ContactableSphereRobot
- All Implemented Interfaces:
- Contactable, YoVariableHolder, java.io.Serializable
public class ContactableSphereRobot
- extends ContactableRobot
- See Also:
- Serialized Form
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 |
ContactableSphereRobot
public ContactableSphereRobot()
ContactableSphereRobot
public ContactableSphereRobot(java.lang.String name)
ContactableSphereRobot
public ContactableSphereRobot(java.lang.String name,
double radius,
double mass)
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