artisynth.core.mechmodels
Class RollPitchJoint
java.lang.Object
artisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.RenderableComponentBase
artisynth.core.mechmodels.RigidBodyConnector
artisynth.core.mechmodels.JointBase
artisynth.core.mechmodels.RollPitchJoint
- All Implemented Interfaces:
- Constrainer, HasAuxState, RigidBodyConstrainer, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable
public class RollPitchJoint
- extends JointBase
- implements CopyableComponent
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
RollPitchJoint
public RollPitchJoint()
RollPitchJoint
public RollPitchJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidTransform3d XDW)
RollPitchJoint
public RollPitchJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidBody bodyB,
RigidTransform3d XDB)
RollPitchJoint
public RollPitchJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XJointWorld)
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 JointBase
- Returns:
- static information for all exported properties
setDefaultValues
public void setDefaultValues()
- Description copied from class:
ModelComponentBase
- Sets the attributes of this component to their default values.
getRollPitchRad
public double[] getRollPitchRad()
setRollPitchRad
public void setRollPitchRad(double[] angs)
updateBounds
public void updateBounds(Point3d pmin,
Point3d pmax)
- Description copied from interface:
GLRenderable
- Update the minimum and maximum points for this object. In an x-y-z
coordinate system with x directed to the right and y directed upwards, the
minimum and maximum points can be thought of as defining the
left-lower-far and right-upper-near corners of a bounding cube. This
method should only reduce the elements of the minimum point and increase
the elements of the maximum point, since it may be used as part of an
iteration to determine the bounding cube for several different objects.
- Specified by:
updateBounds
in interface GLRenderable
- Overrides:
updateBounds
in class RigidBodyConnector
- Parameters:
pmin
- minimum pointpmax
- maximum point
getRoll
public double getRoll()
setRoll
public void setRoll(double roll)
getRollRange
public DoubleInterval getRollRange()
setRollRange
public void setRollRange(DoubleInterval range)
setRollRange
public void setRollRange(double min,
double max)
getPitch
public double getPitch()
setPitch
public void setPitch(double pitch)
getPitchRange
public DoubleInterval getPitchRange()
setPitchRange
public void setPitchRange(DoubleInterval range)
setPitchRange
public void setPitchRange(double min,
double max)
createRenderProps
public RenderProps createRenderProps()
- Description copied from interface:
HasRenderProps
- Factory method to create render properties appropriate to this object.
- Specified by:
createRenderProps
in interface HasRenderProps
- Overrides:
createRenderProps
in class RenderableComponentBase
- Returns:
- new render properties for this object
prerender
public void prerender(RenderList list)
- Description copied from interface:
GLRenderable
- Prepare for rendering, and potentially add itself to a list to be drawn
by a GLRenderer.
- Specified by:
prerender
in interface GLRenderable
- Overrides:
prerender
in class RenderableComponentBase
render
public void render(GLRenderer renderer,
int flags)
- Description copied from interface:
GLRenderable
- Render this object using Open GL via the JOGL.
- Specified by:
render
in interface GLRenderable
- Specified by:
render
in class RenderableComponentBase
- Parameters:
renderer
- renderer object which is used to perform the rendering. Provides pointers
to GL and GLU, along with helper functions.flags
- supplies flags that may be used to control different
aspects of the rendering. Flags are defined in GLRenderer
and currently include
GLRenderer.SELECTED
,
GLRenderer.VERTEX_COLORING
,
GLRenderer.HSV_COLOR_INTERPOLATION
,
GLRenderer.SORT_FACES
, and
GLRenderer.CLEAR_MESH_DISPLAY_LISTS
.
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 RigidBodyConnector