hmi.debug.physics
Class PhysicsDebugVisualisations

java.lang.Object
  hmi.debug.physics.PhysicsDebugVisualisations

public class PhysicsDebugVisualisations
extends Object

Builds VGLNodes to visualise physical objects (RigidBodies, PhysicalHumanoids, ...).

Constructor Summary

PhysicsDebugVisualisations()

Method Summary

static VGLNode	getCollisionShapeDebugVisualisation(CollisionShape collShape) does not include any materials. takes shape of the collisionshape, as well as translation and rotation
static VGLNode	getPHCOMDebugVisualisation(PhysicalHumanoid ph) yellow, filled
static VGLNode	getPHCOMDebugVisualisation(PhysicalHumanoid ph, ArrayList<GLRenderObject> renderStates, ArrayList<GLRenderObject> renderStatesOffset)
static VGLNode	getPhysicalHumanDebugVisualisation(PhysicalHumanoid ph)
static VGLNode	getPhysicalHumanDebugVisualisation(PhysicalHumanoid ph, ArrayList<GLRenderObject> renderStates)
static VGLNode	getPhysicalSegmentDebugVisualisation(PhysicalSegment ps, ArrayList<GLRenderObject> rigidBodyRenderStates) Draws a physical segment. rigidBodyRenderStates only apply to the wireframe of the rigid body collision representation of the segment
static VGLNode	getRigidBodyDebugVisualisation(RigidBody rb) grey, line-drawing
static VGLNode	getRigidBodyDebugVisualisation(RigidBody rigidBody, ArrayList<GLRenderObject> renderStates, boolean renderCenter) any given material (if null: keep current GL state settings. moves along with the rigid body.

Methods inherited from class java.lang.Object

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

Constructor Detail

PhysicsDebugVisualisations

public PhysicsDebugVisualisations()

Method Detail

getRigidBodyDebugVisualisation

public static VGLNode getRigidBodyDebugVisualisation(RigidBody rb)

grey, line-drawing

getRigidBodyDebugVisualisation

public static VGLNode getRigidBodyDebugVisualisation(RigidBody rigidBody,
                                                     ArrayList<GLRenderObject> renderStates,
                                                     boolean renderCenter)

any given material (if null: keep current GL state settings. moves along with the rigid body. To give offset, surround getRoot() with an offset VJoint (see fallingBallDemo). If renderCenter, a small ball is shown in the center coordinates (is NOT necessarily the center of gravity!)

getCollisionShapeDebugVisualisation

public static VGLNode getCollisionShapeDebugVisualisation(CollisionShape collShape)

does not include any materials. takes shape of the collisionshape, as well as translation and rotation

getPhysicalHumanDebugVisualisation

public static VGLNode getPhysicalHumanDebugVisualisation(PhysicalHumanoid ph)

getPhysicalSegmentDebugVisualisation

public static VGLNode getPhysicalSegmentDebugVisualisation(PhysicalSegment ps,
                                                           ArrayList<GLRenderObject> rigidBodyRenderStates)

Draws a physical segment. rigidBodyRenderStates only apply to the wireframe of the rigid body collision representation of the segment

getPhysicalHumanDebugVisualisation

public static VGLNode getPhysicalHumanDebugVisualisation(PhysicalHumanoid ph,
                                                         ArrayList<GLRenderObject> renderStates)

getPHCOMDebugVisualisation

public static VGLNode getPHCOMDebugVisualisation(PhysicalHumanoid ph)

yellow, filled

getPHCOMDebugVisualisation

public static VGLNode getPHCOMDebugVisualisation(PhysicalHumanoid ph,
                                                 ArrayList<GLRenderObject> renderStates,
                                                 ArrayList<GLRenderObject> renderStatesOffset)