artisynth.core.mechmodels
Class SphericalRpyJoint
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.SphericalRpyJoint
- All Implemented Interfaces:
- Constrainer, HasAuxState, RigidBodyConstrainer, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable
public class SphericalRpyJoint
- 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
SphericalRpyJoint
public SphericalRpyJoint()
SphericalRpyJoint
public SphericalRpyJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidTransform3d XDW)
SphericalRpyJoint
public SphericalRpyJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidBody bodyB,
RigidTransform3d XDB)
SphericalRpyJoint
public SphericalRpyJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XWJ)
getRpyRad
public Vector3d getRpyRad()
setRpyRad
public void setRpyRad(Vector3d rpy)
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
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)
getYaw
public double getYaw()
setYaw
public void setYaw(double yaw)
getYawRange
public DoubleInterval getYawRange()
setYawRange
public void setYawRange(DoubleInterval range)
setYawRange
public void setYawRange(double min,
double max)
scanItem
public boolean scanItem(ReaderTokenizer rtok,
java.util.Deque<ScanToken> tokens)
throws java.io.IOException
- Throws:
java.io.IOException
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
setApplyEuler
public void setApplyEuler(boolean apply)
getApplyEuler
public boolean getApplyEuler()