net.java.dev.joode.joint
Class JointConfigurable

java.lang.Object
  net.java.dev.joode.WorldObject
      net.java.dev.joode.joint.Joint
          net.java.dev.joode.joint.JointConfigurable

All Implemented Interfaces:

java.io.Serializable, SimState

public class JointConfigurable
extends Joint

Author:

tom larkworthy

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class net.java.dev.joode.joint.Joint

Joint.Info1, Joint.Info2

Field Summary

static Vector3	a
static Vector3	a1
static Vector3	a2
Vector3	anchor1 body relative anchor point from the first body
Vector3	anchor2 body relative anchor point from the second body
Vector3	angularCFM
Vector3	angularERP
static Vector3	angularError
static Vector3	b1VelF2
static Vector3	b2VelF2
static Vector3	c
Vector3	c0
static Vector3	c1
static Vector3	c2
Vector3	ch
static Quaternion	change1
static Quaternion	change2
static Vector3	g1
static Vector3	g2
static Quaternion	identity
static Matrix3	J1
static Matrix3	J2
Vector3	jerkA3
Vector3	jerkA4
Vector3	linearCFM
Vector3	linearERP
static Quaternion	midpoint
static Matrix3	O1
static Matrix3	O2
Matrix3	rotM
Quaternion	rotQ
static Matrix3	T
Matrix3	t2 additional rotational transform to apply to the second body or global frame to work out frame2 this is so that the axis do not have to align with body axis
static Quaternion	tmpA
static Quaternion	tmpB
static Quaternion	tmpC
static Vector3	tmpV
static Vector3	tmpVa
static Vector3	tmpVb
static Vector3	tmpVc
static Quaternion	Tq

Fields inherited from class net.java.dev.joode.joint.Joint

body, dJOINT_INGROUP, dJOINT_REVERSE, dJOINT_TWOBODIES, feedback, flags, lambda, MAX_BODIES

Fields inherited from class net.java.dev.joode.WorldObject

data, tag, world

Constructor Summary

JointConfigurable(World w)

Method Summary

SimState	cloneState(ClonedReferences util) deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object.
Vector3	convertFrame1CoordsToGlobalCoords(Vector3 relative, Vector3 passback) takes relative coordinates, assumed to be in frame 1 (coordinates in relation to the first body), and returns the same coordinates in the global frame using the global origin
Vector3	convertFrame1CoordsToGlobalFrame(Vector3 relative, Vector3 passback) takes relative coordinates, assumed to be in frame 1 (coordinates in relation to the first body), and returns the same coordinates in the global frame.
Vector3	convertFrame2CoordsToGlobalCoords(Vector3 relative, Vector3 passback) takes relative coordinates, assumed to be in frame 2 (coordinates in relation to the second body, or the global frame if there is no second body) and returns the same coordinates in the global frame using the global origin
Vector3	convertFrame2CoordsToGlobalFrame(Vector3 relative, Vector3 passback) takes relative coordinates, assumed to be in frame 2 (coordinates in relation to the second body, or the global frame if there is no second body) and returns the same coordinates in the global frame.
Vector3	convertGlobalCoordsToFrame1Coords(Vector3 relative, Vector3 passback) COORDINATE CONVERSION UTILITY METHODS************? /** takes global frame body relative coordinates, and converts them to body relative body frame coordinates (for frame 1, the first body)
Vector3	convertGlobalCoordsToFrame2Coords(Vector3 relative, Vector3 passback) takes global coordinates, and converts them to body relative body frame coordinates (for frame 2, the second body or global if the second body does not exist)
Vector3	convertGlobalFrameToFrame2(Vector3 relative, Vector3 passback) takes global frame vectors, and converts them to frame2 vectors (for frame 2, the second body or global if the second body does not exist)
Vector3	getAnchor1InGlobalCoords(Vector3 passback) returns the anchor attached to the first body in the global coordinates
Vector3	getAnchor1InGlobalFrame(Vector3 passback) returns the anchor attached to the first body in the global frame of reference
Vector3	getAnchor2InGlobalCoords(Vector3 passback) returns the anchor attached to the second body in global coordinates, or, if no second body is present, the global anchor
Vector3	getAnchor2InGlobalFrame(Vector3 passback) returns the anchor attached to the second body in the global frame of reference, or, if no second body is present, the global anchor
void	getInfo1(Joint.Info1 info1)
void	getInfo2(Joint.Info2 jinfo) Tells the joint that it has now been fully configured, and ready for use in the dynamics engine
void	setAnchor1(Vector3 vec)
void	setAnchor2(Vector3 vec)
void	setAngularConstrains(int n) either 0, 1 or 3.
void	setLinearConstrains(int n)

Methods inherited from class net.java.dev.joode.joint.Joint

attach, destroy, partialCloneJoint, removeJointReferencesFromAttachedBodies, reset, setJointId

Methods inherited from class net.java.dev.joode.WorldObject

partialCloneWorldObject

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

J1

public static final Matrix3 J1

J2

public static final Matrix3 J2

O1

public static final Matrix3 O1

O2

public static final Matrix3 O2

T

public static final Matrix3 T

Tq

public static final Quaternion Tq

c1

public static final Vector3 c1

c2

public static final Vector3 c2

tmpV

public static final Vector3 tmpV

tmpVa

public static final Vector3 tmpVa

tmpVb

public static final Vector3 tmpVb

tmpVc

public static final Vector3 tmpVc

a1

public static final Vector3 a1

a2

public static final Vector3 a2

g1

public static final Vector3 g1

g2

public static final Vector3 g2

c

public static final Vector3 c

b1VelF2

public static final Vector3 b1VelF2

b2VelF2

public static final Vector3 b2VelF2

a

public static final Vector3 a

angularError

public static final Vector3 angularError

identity

public static final Quaternion identity

tmpA

public static final Quaternion tmpA

tmpB

public static final Quaternion tmpB

tmpC

public static final Quaternion tmpC

change1

public static final Quaternion change1

change2

public static final Quaternion change2

midpoint

public static final Quaternion midpoint

c0

public final Vector3 c0

ch

public final Vector3 ch

jerkA3

public final Vector3 jerkA3

jerkA4

public final Vector3 jerkA4

anchor1

public final Vector3 anchor1

body relative anchor point from the first body

anchor2

public final Vector3 anchor2

body relative anchor point from the second body

t2

public final Matrix3 t2

additional rotational transform to apply to the second body or global frame to work out frame2 this is so that the axis do not have to align with body axis

rotQ

public final Quaternion rotQ

rotM

public final Matrix3 rotM

linearERP

public final Vector3 linearERP

linearCFM

public final Vector3 linearCFM

angularERP

public final Vector3 angularERP

angularCFM

public final Vector3 angularCFM

Constructor Detail

JointConfigurable

public JointConfigurable(World w)

Method Detail

setAnchor1

public void setAnchor1(Vector3 vec)

setAnchor2

public void setAnchor2(Vector3 vec)

setLinearConstrains

public void setLinearConstrains(int n)

setAngularConstrains

public void setAngularConstrains(int n)

either 0, 1 or 3. 1DOF is not implemented

getInfo1

public void getInfo1(Joint.Info1 info1)

Specified by:

getInfo1 in class Joint

getInfo2

public void getInfo2(Joint.Info2 jinfo)

Tells the joint that it has now been fully configured, and ready for use in the dynamics engine

Specified by:

getInfo2 in class Joint

cloneState

public SimState cloneState(ClonedReferences util)

Description copied from interface: SimState

deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object. The util object ensures that multiple clones of the same object are not performed during a clone operation.

Parameters:

util - instanciate a new one if top level cloning

convertGlobalCoordsToFrame1Coords

public Vector3 convertGlobalCoordsToFrame1Coords(Vector3 relative,
                                                 Vector3 passback)

COORDINATE CONVERSION UTILITY METHODS************? /** takes global frame body relative coordinates, and converts them to body relative body frame coordinates (for frame 1, the first body)

convertGlobalCoordsToFrame2Coords

public Vector3 convertGlobalCoordsToFrame2Coords(Vector3 relative,
                                                 Vector3 passback)

takes global coordinates, and converts them to body relative body frame coordinates (for frame 2, the second body or global if the second body does not exist)

convertGlobalFrameToFrame2

public Vector3 convertGlobalFrameToFrame2(Vector3 relative,
                                          Vector3 passback)

takes global frame vectors, and converts them to frame2 vectors (for frame 2, the second body or global if the second body does not exist)

convertFrame1CoordsToGlobalFrame

public Vector3 convertFrame1CoordsToGlobalFrame(Vector3 relative,
                                                Vector3 passback)

takes relative coordinates, assumed to be in frame 1 (coordinates in relation to the first body), and returns the same coordinates in the global frame. NOTE although the returned coords use the global frame of reference they are still relative to the first body

convertFrame2CoordsToGlobalFrame

public Vector3 convertFrame2CoordsToGlobalFrame(Vector3 relative,
                                                Vector3 passback)

takes relative coordinates, assumed to be in frame 2 (coordinates in relation to the second body, or the global frame if there is no second body) and returns the same coordinates in the global frame. NOTE although the returned coords use the global frame of reference they are still relative to the second body if applicable

convertFrame1CoordsToGlobalCoords

public Vector3 convertFrame1CoordsToGlobalCoords(Vector3 relative,
                                                 Vector3 passback)

takes relative coordinates, assumed to be in frame 1 (coordinates in relation to the first body), and returns the same coordinates in the global frame using the global origin

convertFrame2CoordsToGlobalCoords

public Vector3 convertFrame2CoordsToGlobalCoords(Vector3 relative,
                                                 Vector3 passback)

takes relative coordinates, assumed to be in frame 2 (coordinates in relation to the second body, or the global frame if there is no second body) and returns the same coordinates in the global frame using the global origin

getAnchor1InGlobalFrame

public Vector3 getAnchor1InGlobalFrame(Vector3 passback)

returns the anchor attached to the first body in the global frame of reference

getAnchor2InGlobalFrame

public Vector3 getAnchor2InGlobalFrame(Vector3 passback)

returns the anchor attached to the second body in the global frame of reference, or, if no second body is present, the global anchor

getAnchor1InGlobalCoords

public Vector3 getAnchor1InGlobalCoords(Vector3 passback)

returns the anchor attached to the first body in the global coordinates

getAnchor2InGlobalCoords

public Vector3 getAnchor2InGlobalCoords(Vector3 passback)

returns the anchor attached to the second body in global coordinates, or, if no second body is present, the global anchor