artisynth.core.mechmodels

Class SphericalRpyJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.mechmodels.SphericalJointBase

artisynth.core.mechmodels.SphericalRpyJoint

All Implemented Interfaces:

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

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
SphericalRpyJoint()
SphericalRpyJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TFW)
SphericalRpyJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d XWJ)
SphericalRpyJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d XDB)
SphericalRpyJoint(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.
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

render

Methods inherited from class artisynth.core.mechmodels.JointBase

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

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

SphericalRpyJoint

public SphericalRpyJoint()

SphericalRpyJoint

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

SphericalRpyJoint

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

SphericalRpyJoint

public SphericalRpyJoint(RigidBody bodyA,
                         RigidBody bodyB,
                         RigidTransform3d XWJ)

SphericalRpyJoint

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

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 JointBase

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

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

setApplyEuler

public void setApplyEuler(boolean apply)

getApplyEuler

public boolean getApplyEuler()