artisynth.core.mechmodels
Class SphericalJoint
java.lang.Object
artisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.RenderableComponentBase
artisynth.core.mechmodels.RigidBodyConnector
artisynth.core.mechmodels.JointBase
artisynth.core.mechmodels.SphericalJointBase
artisynth.core.mechmodels.SphericalJoint
- All Implemented Interfaces:
- Constrainer, HasAuxState, RigidBodyConstrainer, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable
public class SphericalJoint
- extends SphericalJointBase
Auxiliary class used to solve constrained rigid body problems.
Methods inherited from class artisynth.core.mechmodels.RigidBodyConnector |
addBilateralConstraints, addFrictionConstraints, addFrictionConstraints, addUnilateralConstraints, advanceAuxState, connectToHierarchy, disconnectFromHierarchy, getActivation, getAuxState, getBilateralBlockA, getBilateralBlockB, getBilateralConstraints, getBilateralForceInA, getBilateralForceInA, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getBreakAccel, getBreakSpeed, getCompliance, getContactDistance, getCopyReferences, getCurrentXDB, getCurrentXDW, getCurrentXFA, getCurrentXFW, getDamping, getHardReferences, getInitialAuxState, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRotaryCompliance, getUnilateralBlockA, getUnilateralBlockB, getUnilateralConstraints, getUnilateralForceInA, getUnilateralForceInA, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, getXCA, getXCB, getXDB, getXFA, hasState, hasUnilateralConstraints, isActive, isDuplicatable, isEnabled, maxFrictionConstraintSets, numBilateralConstraints, numBodies, numUnilateralConstraints, scaleMass, setAuxState, setBilateralImpulses, setBodies, setBreakAccel, setBreakSpeed, setCompliance, setContactDistance, setDamping, setEnabled, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setUnilateralImpulses, setXDB, setXFA, skipAuxState, transformGeometry, transformGeometry, updateBodyStates, updateConstraints, updateForBodyPositionChange, updateUnilateralConstraints, zeroImpulses |
Methods inherited from class artisynth.core.modelbase.ModelComponentBase |
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
myProps
public static PropertyList myProps
SphericalJoint
public SphericalJoint()
SphericalJoint
public SphericalJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidTransform3d XDW)
SphericalJoint
public SphericalJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidBody bodyB,
RigidTransform3d XDB)
SphericalJoint
public SphericalJoint(RigidBody bodyA,
RigidBody bodyB,
Point3d worldPnt)
SphericalJoint
public SphericalJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XWJ)
isTiltLimited
public boolean isTiltLimited()
setTiltLimited
public void setTiltLimited(boolean enable)
isRotationLimited
public boolean isRotationLimited()
setRotationLimited
public void setRotationLimited(boolean enable)
getAllPropertyInfo
public PropertyList getAllPropertyInfo()
- Description copied from interface:
HasProperties
- Returns a list giving static information about all properties exported by
this object.
- Specified by:
getAllPropertyInfo
in interface HasProperties
- Overrides:
getAllPropertyInfo
in class SphericalJointBase
- Returns:
- static information for all exported properties
setMaximumTilt
public void setMaximumTilt(double max)
getMaximumTilt
public double getMaximumTilt()
setMaxTilt
public void setMaxTilt(double max)
getMaxTilt
public double getMaxTilt()
setMaxRotation
public void setMaxRotation(Vector3d maxRot)
setMaxRotation
public void setMaxRotation(double maxx,
double maxy,
double maxz)
setMaxRotation
public void setMaxRotation(double max)
getMaxRotation
public Vector3d getMaxRotation()
copy
public ModelComponent copy(int flags,
java.util.Map<ModelComponent,ModelComponent> copyMap)
- Description copied from interface:
CopyableComponent
- Create a copy of this component. If
COPY_REFERENCES
is set in flags
, then any component referenced
by this component should itself be set to a copy. This
should be done first checking copyMap
for an
existing copy of the referenced component. If there is no existing
copy, then a copy should be created by calling copy
recursively and adding the new copy to copyMap
.
- Specified by:
copy
in interface CopyableComponent
- Overrides:
copy
in class SphericalJointBase