com.yobotics.simulationconstructionset.util.environments
Class ContactableStaticCylinderRobot

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

public class ContactableStaticCylinderRobot
extends ContactableStaticRobot
implements SelectableObject, SelectedListener

See Also:
Serialized Form

Constructor Summary
ContactableStaticCylinderRobot(java.lang.String name, javax.media.j3d.Transform3D cylinderTransform, double cylinderHeight, double cylinderRadius, AppearanceDefinition appearance)
           
 
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)
           
 Link getCylinderLink()
           
 NullJoint getNullJoint()
           
 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 unSelect(boolean reset)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.util.environments.ContactableStaticRobot
createAvailableContactPoints, getAndLockAvailableContactPoint, getBodyTransformToWorld, getLockedContactPoint, 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
 

Constructor Detail

ContactableStaticCylinderRobot

public ContactableStaticCylinderRobot(java.lang.String name,
                                      javax.media.j3d.Transform3D cylinderTransform,
                                      double cylinderHeight,
                                      double cylinderRadius,
                                      AppearanceDefinition appearance)
Method Detail

getCylinderLink

public Link getCylinderLink()

addDynamicGraphicForceVectorsToGroundContactPoints

public void addDynamicGraphicForceVectorsToGroundContactPoints(double forceVectorScale,
                                                               AppearanceDefinition appearance,
                                                               DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)

addDynamicGraphicForceVectorsToGroundContactPoints

public void addDynamicGraphicForceVectorsToGroundContactPoints(int groupIdentifier,
                                                               double forceVectorScale,
                                                               AppearanceDefinition appearance,
                                                               DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry)

getNullJoint

public NullJoint getNullJoint()
Specified by:
getNullJoint in class ContactableStaticRobot

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 selected
location - location of the selected point
cameraLocation - camera position
cameraRotation - 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