hmi.elckerlyc.animationengine.mixed
Class Connector

java.lang.Object
  hmi.elckerlyc.animationengine.mixed.Connector

public class Connector
extends Object

Connection point for a @see{KinematicChain} to a @see{PhysicalSegment}

Author:

welberge

Field Summary

private float[]	aAcc
private float[]	acc
private float[]	aVel
private float[]	bodyRotation
private float[]	connectionPoint
private boolean	isFirst
private float	k
private org.slf4j.Logger	logger
private static float	MAX_REACTIVE_TORQUE
private float[]	mTemp
private float[]	prevAVel
private float[]	prevVel
private float[]	rTorque
private PhysicalSegment	segment
private float[]	tempPos
private float[]	tempRot
private float[]	tempS
private float[]	vel

Constructor Summary

Connector(PhysicalSegment seg, float[] p, float kmul)
Sets up the connector, assumes the segment is initialized and has a valid world position

Method Summary

void	applyReactiveTorque(float[] q, float[] f) Applies a reactive torque of -k*f to the connectors body
void	getAvelocity(float[] aVelocity)
void	getRelVelocity(float[] velocity)
void	getSpatialVelocityAndAcceleration(float timeDiff, float[] spatialV, float[] spatialA) Calculates the spatial velocity and acceleration of the connector from the velocity of the physical segment and the velocity at the previous call to this function Not thread safe, the caller of this function needs to guard for thread safety for the physical segment
void	getSpatialVelocityAndAcceleration(float timeDiff, float[] spatialV, float[] spatialA, float[] spatialG) Calculates the spatial velocity and acceleration of the connector from the velocity of the physical segment and the velocity at the previous call to this function Not thread safe, the caller of this function needs to guard for thread safety for the physical segment Depends on previous velocity values, call reset before using this function if drastic changes happened
PhysicalSegment	getStartSegment()
void	getVelocity(float[] velocity)
void	getWorldPosition(float[] dst) Get the world position of the connection point Not thread safe, the caller of this function needs to guard for thread safety for the physical segment
void	getWorldTransform(float[] m) Get the 4x4 world transform of the connection point Not thread safe, the caller of this function needs to guard for thread safety for the physical segment
void	reset() Resets the state of the connector, newly calculated acceleration values will assume 0 velocity at the previous frame.
void	setFeedbackRatio(float kmul) Sets the ratio of torques that is applied to the physical body
void	setVel(Connector c) Sets the prevVel and prevAvel from connector c

Methods inherited from class java.lang.Object

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

Field Detail

logger

private org.slf4j.Logger logger

segment

private PhysicalSegment segment

connectionPoint

private float[] connectionPoint

vel

private float[] vel

aVel

private float[] aVel

aAcc

private float[] aAcc

acc

private float[] acc

prevVel

private float[] prevVel

prevAVel

private float[] prevAVel

rTorque

private float[] rTorque

bodyRotation

private float[] bodyRotation

tempS

private float[] tempS

tempRot

private float[] tempRot

tempPos

private float[] tempPos

mTemp

private float[] mTemp

isFirst

private boolean isFirst

k

private float k

MAX_REACTIVE_TORQUE

private static final float MAX_REACTIVE_TORQUE

See Also:

Constant Field Values

Constructor Detail

Connector

public Connector(PhysicalSegment seg,
                 float[] p,
                 float kmul)

Sets up the connector, assumes the segment is initialized and has a valid world position

Parameters:

seg - physical segment

p - the connection point, in world coordinates

kmul - the reactive torque multiplier (typically 0 < kmul < 1), 0.6 works well

Method Detail

setFeedbackRatio

public void setFeedbackRatio(float kmul)

Sets the ratio of torques that is applied to the physical body

Parameters:

kmul - the new feedback ratio

reset

public void reset()

Resets the state of the connector, newly calculated acceleration values will assume 0 velocity at the previous frame.

setVel

public void setVel(Connector c)

Sets the prevVel and prevAvel from connector c

Parameters:

c -

getWorldTransform

public void getWorldTransform(float[] m)

Get the 4x4 world transform of the connection point Not thread safe, the caller of this function needs to guard for thread safety for the physical segment

Parameters:

m - output: the world position of the connection point

getWorldPosition

public void getWorldPosition(float[] dst)

Get the world position of the connection point Not thread safe, the caller of this function needs to guard for thread safety for the physical segment

Parameters:

dst - output: the world position of the connection point

getRelVelocity

public void getRelVelocity(float[] velocity)

getVelocity

public void getVelocity(float[] velocity)

getAvelocity

public void getAvelocity(float[] aVelocity)

getSpatialVelocityAndAcceleration

public void getSpatialVelocityAndAcceleration(float timeDiff,
                                              float[] spatialV,
                                              float[] spatialA,
                                              float[] spatialG)

Calculates the spatial velocity and acceleration of the connector from the velocity of the physical segment and the velocity at the previous call to this function Not thread safe, the caller of this function needs to guard for thread safety for the physical segment Depends on previous velocity values, call reset before using this function if drastic changes happened

Parameters:

timeDiff - time since previous call

spatialV - output: the current spatial velocity

spatialA - output: the current spatial acceleration

spatialG - spatial acceleration gravity in world coordinates

getSpatialVelocityAndAcceleration

public void getSpatialVelocityAndAcceleration(float timeDiff,
                                              float[] spatialV,
                                              float[] spatialA)

Calculates the spatial velocity and acceleration of the connector from the velocity of the physical segment and the velocity at the previous call to this function Not thread safe, the caller of this function needs to guard for thread safety for the physical segment

Parameters:

timeDiff - time since previous call

spatialV - output: the current spatial velocity

spatialA - output: the current spatial acceleration

applyReactiveTorque

public void applyReactiveTorque(float[] q,
                                float[] f)

Applies a reactive torque of -k*f to the connectors body

Parameters:

f - the reactive torque

getStartSegment

public PhysicalSegment getStartSegment()