artisynth.core.mechmodels
Class SphericalRpyJoint

java.lang.Object
  extended by artisynth.core.modelbase.ModelComponentBase
      extended by artisynth.core.modelbase.RenderableComponentBase
          extended by artisynth.core.mechmodels.RigidBodyConnector
              extended by artisynth.core.mechmodels.JointBase
                  extended by artisynth.core.mechmodels.SphericalJointBase
                      extended by 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.


Nested Class Summary
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility
 
Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
HasAuxState.StateContext
 
Field Summary
static PropertyList myProps
           
 
Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
 
Fields inherited from interface artisynth.core.modelbase.CopyableComponent
COPY_REFERENCES
 
Fields inherited from interface artisynth.core.util.TransformableGeometry
ARTICULATED, SIMULATING
 
Fields inherited from interface maspack.render.GLRenderable
TRANSLUCENT, TWO_DIMENSIONAL
 
Constructor Summary
SphericalRpyJoint()
           
SphericalRpyJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d XWJ)
           
SphericalRpyJoint(RigidBody bodyA, RigidTransform3d XFA, RigidBody bodyB, RigidTransform3d XDB)
           
SphericalRpyJoint(RigidBody bodyA, RigidTransform3d XFA, RigidTransform3d XDW)
           
 
Method Summary
 ModelComponent copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
          Create a copy of this component.
 PropertyList getAllPropertyInfo()
          Returns a list giving static information about all properties exported by this object.
 boolean getApplyEuler()
           
 double getPitch()
           
 DoubleInterval getPitchRange()
           
 double getRoll()
           
 DoubleInterval getRollRange()
           
 Vector3d getRpyRad()
           
 double getYaw()
           
 DoubleInterval getYawRange()
           
 boolean scanItem(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens)
           
 void setApplyEuler(boolean apply)
           
 void setPitch(double pitch)
           
 void setPitchRange(double min, double max)
           
 void setPitchRange(DoubleInterval range)
           
 void setRoll(double roll)
           
 void setRollRange(double min, double max)
           
 void setRollRange(DoubleInterval range)
           
 void setRpyRad(Vector3d rpy)
           
 void setYaw(double yaw)
           
 void setYawRange(double min, double max)
           
 void setYawRange(DoubleInterval range)
           
 
Methods inherited from class artisynth.core.mechmodels.SphericalJointBase
createRenderProps, prerender, render, setDefaultValues, updateBounds
 
Methods inherited from class artisynth.core.mechmodels.JointBase
getAxisLength, getPosition, getRenderFrame, scaleDistance, setAxisLength
 
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.RenderableComponentBase
getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps
 
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.CopyableComponent
getCopyReferences, isDuplicatable
 
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
 
Methods inherited from interface maspack.properties.HasProperties
getProperty
 
Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren
 
Methods inherited from interface maspack.util.Scannable
isWritable, write
 

Field Detail

myProps

public static PropertyList myProps
Constructor Detail

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)
Method Detail

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()