hmi.elckerlyc.animationengine.mixed
Class MixedPlayer

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

public class MixedPlayer
extends Object

Field Summary

static float	DEFAULTH
private float	h
private VJoint[]	hCurrS
private VJoint[]	hNextS
private VJoint[]	hPrevS
private int	kinJoints
private org.slf4j.Logger	logger
private float[]	q
private float[]	q1
private float[]	q2
private float[]	qCurr
private float[]	qDiff
private float[]	qDiff2
private float[]	qNext
private float[]	qPrev
private MixedSystem	system
private float[]	v
private float[]	v1
private float[]	v2
private float[]	w
private float[]	wDiff

Constructor Summary

MixedPlayer(MixedSystem sys, VJoint hPrev, VJoint hCurr, VJoint hNext)

Method Summary

private void	calculateKinematics() Calculates joint rotations, joint angular velocity and joint angular accelration from the prev, current, next joint configuration
float	getH() Get the simulation rate
MixedSystem	getSystem()
void	play(float timeDiff)
void	reset(VJoint vj)
void	setH(float hNew) Set the simulation rate
void	setMassOffset() Sets the massoffset of the physical humanoid to the one defined by its current joints
private void	setPrevCurrNextFromPhysicalHuman(PhysicalHumanoid ph, VJoint vPrev, VJoint vCurr, VJoint vNext)
void	setSystem(MixedSystem sys, VJoint hPrev, VJoint hCurr, VJoint hNext) Sets up the system, based on a new system
void	switchSystem(MixedSystem sys, float timeDiff, VJoint prev, VJoint curr, VJoint next, boolean switchPrevCurrNext) Switches the current mixed system to sys

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

hPrevS

private VJoint[] hPrevS

hCurrS

private VJoint[] hCurrS

hNextS

private VJoint[] hNextS

qPrev

private float[] qPrev

qCurr

private float[] qCurr

qNext

private float[] qNext

qDiff

private float[] qDiff

qDiff2

private float[] qDiff2

w

private float[] w

wDiff

private float[] wDiff

q

private float[] q

q1

private float[] q1

q2

private float[] q2

v

private float[] v

v1

private float[] v1

v2

private float[] v2

system

private MixedSystem system

kinJoints

private int kinJoints

h

private float h

DEFAULTH

public static final float DEFAULTH

See Also:

Constant Field Values

Constructor Detail

MixedPlayer

public MixedPlayer(MixedSystem sys,
                   VJoint hPrev,
                   VJoint hCurr,
                   VJoint hNext)

Method Detail

setPrevCurrNextFromPhysicalHuman

private void setPrevCurrNextFromPhysicalHuman(PhysicalHumanoid ph,
                                              VJoint vPrev,
                                              VJoint vCurr,
                                              VJoint vNext)

setSystem

public void setSystem(MixedSystem sys,
                      VJoint hPrev,
                      VJoint hCurr,
                      VJoint hNext)

Sets up the system, based on a new system

Parameters:

sys - new system

hPrev - joint trees to find kinematically steered joints in

hCurr -

hNext -

getH

public float getH()

Get the simulation rate

setH

public void setH(float hNew)

Set the simulation rate

setMassOffset

public void setMassOffset()

Sets the massoffset of the physical humanoid to the one defined by its current joints

reset

public void reset(VJoint vj)

calculateKinematics

private void calculateKinematics()

Calculates joint rotations, joint angular velocity and joint angular accelration from the prev, current, next joint configuration

switchSystem

public void switchSystem(MixedSystem sys,
                         float timeDiff,
                         VJoint prev,
                         VJoint curr,
                         VJoint next,
                         boolean switchPrevCurrNext)

Switches the current mixed system to sys

Parameters:

sys - system to switch to

timeDiff - time delta since last update

play

public void play(float timeDiff)

getSystem

public MixedSystem getSystem()

Returns:

the system