artisynth.core.mechmodels

Class RollPitchJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.mechmodels.RollPitchJoint

All Implemented Interfaces:

BodyConstrainer, Constrainer, HasAuxState, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class RollPitchJoint
extends JointBase
implements CopyableComponent

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

Fields

Modifier and Type	Field and Description
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.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
RollPitchJoint()
RollPitchJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TFW)
RollPitchJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d XJointWorld)
RollPitchJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d XDB)
RollPitchJoint(RigidBody bodyA, RigidTransform3d TCA, RigidTransform3d TDW)

Method Summary

Modifier and Type	Method and Description
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.
double	getPitch()
DoubleInterval	getPitchRange()
double	getRoll()
double[]	getRollPitchRad()
DoubleInterval	getRollRange()
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	setPitch(double pitch)
void	setPitchRange(double min, double max)
void	setPitchRange(DoubleInterval range)
void	setRoll(double roll)
void	setRollPitchRad(double[] angs)
void	setRollRange(double min, double max)
void	setRollRange(DoubleInterval range)
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.JointBase

createRenderProps, getAxisLength, getDrawFrame, getDrawFrameC, getDrawFrameD, getPosition, getRenderFrame, prerender, scaleDistance, setAxisLength, setDefaultValues, setDrawFrame, setDrawFrameC, setDrawFrameD

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, advanceAuxState, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAuxState, getBilateralConstraints, getBilateralForceInA, getBilateralForceInA, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getBreakAccel, getBreakSpeed, getCompliance, getConstrainedComponents, getContactDistance, getCopyReferences, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getCurrentTXW, getDamping, getHardReferences, getInitialAuxState, getLinearCompliance, getOtherBody, getPenetrationTol, getPenetrationTolMode, getPose, getRotaryCompliance, getUnilateralConstraints, getUnilateralForceInA, getUnilateralForceInA, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, hasState, hasTranslation, hasUnilateralConstraints, isActive, isDuplicatable, isEnabled, maxFrictionConstraintSets, numBilateralConstraints, numBodies, numUnilateralConstraints, printConstraintInfo, scaleMass, setAuxState, setBilateralImpulses, setBodies, setBodies, setBodies, setBodies, setBreakAccel, setBreakSpeed, setCompliance, setContactDistance, setCurrentTCW, setCurrentTDW, setDamping, setEnabled, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setUnilateralImpulses, 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, isConnectedToHierarchy, 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

RollPitchJoint

public RollPitchJoint()

RollPitchJoint

public RollPitchJoint(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidTransform3d TDW)

RollPitchJoint

public RollPitchJoint(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidBody bodyB,
                      RigidTransform3d XDB)

RollPitchJoint

public RollPitchJoint(RigidBody bodyA,
                      RigidBody bodyB,
                      RigidTransform3d XJointWorld)

RollPitchJoint

public RollPitchJoint(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TFW)

Method Detail

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

getRollPitchRad

public double[] getRollPitchRad()

setRollPitchRad

public void setRollPitchRad(double[] angs)

updateBounds

public void updateBounds(Vector3d pmin,
                         Vector3d pmax)

Description copied from interface: IsRenderable

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 IsRenderable

Overrides:

updateBounds in class JointBase

Parameters:

pmin - minimum point

pmax - 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)

render

public void render(Renderer renderer,
                   int flags)

Description copied from interface: IsRenderable

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Overrides:

render in class JointBase

Parameters:

renderer - provides the functionality used to perform the rendering.

flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.

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 JointBase

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component