hmi.physics
Class PhysicalSegment

java.lang.Object
  hmi.physics.PhysicalSegment

All Implemented Interfaces:

VObject

Direct Known Subclasses:

OdePhysicalSegment

public abstract class PhysicalSegment
extends Object
implements VObject

PhysicalSegment, links a RigidBody with a visual humanoid segment

Author:

welberge

Nested Class Summary

Nested classes/interfaces inherited from interface hmi.animation.VObject

VObject.Predicate

Field Summary

float[]	axis1
float[]	axis2
RigidBody	box
float[]	hiStop
protected String	id
JointType	jointType
float[]	loStop
protected String	name
boolean	onGround
protected String	sid
PhysicalJoint	startJoint
float[]	startJointOffset

Constructor Summary

PhysicalSegment()
Constructor

Method Summary

void	clear() prepare the segment for removal
abstract Mass	createMass() Create the appropiate mass subclass
void	getAngularVelocity(float[] v) Returns the angular velocity vector in the form of a float array of length three.
void	getAngularVelocity(float[] vc, int vcIndex) Like getAngularVelocity(wa), but starting at the specified offset.
String	getId() Returns an interned String that specifies the id.
String	getName() Returns an interned String that specifies the name.
void	getRotation(float[] r) Returns the rotation quaternion in a float array of length four.
void	getRotation(float[] r, int index) Like getRotation(ra), but starting at the specified offset.
float[]	getRotationBuffer()
void	getScale(float[] r) Returns the scale vector in a float array of length three.
void	getScale(float[] r, int index) Like getScale(sa), but starting at the specified offset.
float[]	getScaleBuffer()
String	getSid() Returns an interned String that specifies the sid.
void	getTranslation(float[] t) Returns the translation vector in the form of a float array of length three
void	getTranslation(float[] vc, int vcIndex) Like getTranslation(ta), but starting at the specified offset
float[]	getTranslationBuffer()
void	getVelocity(float[] v) Returns the velocity vector in the form of a float array of length three.
void	getVelocity(float[] vc, int vcIndex) Like getVelocity(va), but starting at the specified offset.
void	set(PhysicalSegment s) Copies everything but the physicalJoint from s
void	setAngularVelocity(float[] v) Sets the angular velocity vector from a float array of length three.
void	setAngularVelocity(float[] vc, int vcIndex) Like setAngularVelocity(wa), but starting at the specified offset.
void	setAngularVelocity(float wx, float wy, float wz) Sets the angular velocity vector from three floats.
void	setAxisAngle(float ax, float ay, float az, float angle) Sets the rotation quaternion derived from a rotation axis (ax, ay, az) and a rotation angle angle, specified in radians.
void	setEnabled(boolean enabled) Disables or enables the segment.
void	setId(String n) Set the name
void	setName(String n) Sets the name for this VObject.
void	setRotation(float[] ra) Sets the rotation quaternion from a float array of length four.
void	setRotation(float[] ra, int raIndex) Like setRotation(ra), but starting at the specified offset.
void	setRotation(float qs, float qx, float qy, float qz) Sets the rotation quaternion from four floats.
void	setScale(float[] sa) Sets the scale vector from a float array of lebgth three.
void	setScale(float[] sa, int saIndex) Like setScale(sa), but starting at the specified offset
void	setSid(String sid) Sets the sid for this VObject.
void	setTranslation(float[] ta) Sets the translation vector from a float array of length three.
void	setTranslation(float[] ta, int taIndex) Like setTranslation(ta), but starting at the specified offset.
void	setTranslation(float tx, float ty, float tz) Sets the current translation vector from three floats.
void	setVelocity(float[] v) Sets the velocity vector from a float array of length three.
void	setVelocity(float[] vc, int vcIndex) Like setVelocity(va), but starting at the specified offset.
void	setVelocity(float vx, float vy, float vz) Sets the velocity vector from three floats.
String	toString() String representation

Methods inherited from class java.lang.Object

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

Field Detail

box

public RigidBody box

startJoint

public PhysicalJoint startJoint

axis1

public float[] axis1

axis2

public float[] axis2

onGround

public boolean onGround

jointType

public JointType jointType

hiStop

public float[] hiStop

loStop

public float[] loStop

startJointOffset

public float[] startJointOffset

sid

protected String sid

id

protected String id

name

protected String name

Constructor Detail

PhysicalSegment

public PhysicalSegment()

Constructor

Method Detail

set

public void set(PhysicalSegment s)

Copies everything but the physicalJoint from s

getName

public String getName()

Description copied from interface: VObject

Returns an interned String that specifies the name.

Specified by:

getName in interface VObject

setName

public void setName(String n)

Description copied from interface: VObject

Sets the name for this VObject.

Specified by:

setName in interface VObject

clear

public void clear()

prepare the segment for removal

toString

public String toString()

String representation

Overrides:

toString in class Object

setId

public void setId(String n)

Set the name

Specified by:

setId in interface VObject

Parameters:

n - the new name

getAngularVelocity

public void getAngularVelocity(float[] v)

Description copied from interface: VObject

Returns the angular velocity vector in the form of a float array of length three.

Specified by:

getAngularVelocity in interface VObject

getAngularVelocity

public void getAngularVelocity(float[] vc,
                               int vcIndex)

Description copied from interface: VObject

Like getAngularVelocity(wa), but starting at the specified offset.

Specified by:

getAngularVelocity in interface VObject

getId

public String getId()

Description copied from interface: VObject

Returns an interned String that specifies the id.

Specified by:

getId in interface VObject

getRotation

public void getRotation(float[] r)

Description copied from interface: VObject

Returns the rotation quaternion in a float array of length four. The order is (s, x, y, z), where s is the scalar part, x, y, z are the imaginary parts.

Specified by:

getRotation in interface VObject

getRotation

public void getRotation(float[] r,
                        int index)

Description copied from interface: VObject

Like getRotation(ra), but starting at the specified offset.

Specified by:

getRotation in interface VObject

getSid

public String getSid()

Description copied from interface: VObject

Returns an interned String that specifies the sid.

Specified by:

getSid in interface VObject

getTranslation

public void getTranslation(float[] t)

Description copied from interface: VObject

Returns the translation vector in the form of a float array of length three

Specified by:

getTranslation in interface VObject

getTranslation

public void getTranslation(float[] vc,
                           int vcIndex)

Description copied from interface: VObject

Like getTranslation(ta), but starting at the specified offset

Specified by:

getTranslation in interface VObject

getVelocity

public void getVelocity(float[] v)

Description copied from interface: VObject

Returns the velocity vector in the form of a float array of length three.

Specified by:

getVelocity in interface VObject

getVelocity

public void getVelocity(float[] vc,
                        int vcIndex)

Description copied from interface: VObject

Like getVelocity(va), but starting at the specified offset.

Specified by:

getVelocity in interface VObject

setAngularVelocity

public void setAngularVelocity(float[] v)

Description copied from interface: VObject

Sets the angular velocity vector from a float array of length three.

Specified by:

setAngularVelocity in interface VObject

setAngularVelocity

public void setAngularVelocity(float[] vc,
                               int vcIndex)

Description copied from interface: VObject

Like setAngularVelocity(wa), but starting at the specified offset.

Specified by:

setAngularVelocity in interface VObject

setAngularVelocity

public void setAngularVelocity(float wx,
                               float wy,
                               float wz)

Description copied from interface: VObject

Sets the angular velocity vector from three floats.

Specified by:

setAngularVelocity in interface VObject

setAxisAngle

public void setAxisAngle(float ax,
                         float ay,
                         float az,
                         float angle)

Description copied from interface: VObject

Sets the rotation quaternion derived from a rotation axis (ax, ay, az) and a rotation angle angle, specified in radians. The axis need not have length one. If all parameters are zero, the rotation is set to the identity quaternion (1,0,0,0).

Specified by:

setAxisAngle in interface VObject

setRotation

public void setRotation(float[] ra)

Description copied from interface: VObject

Sets the rotation quaternion from a float array of length four. The order is (s, x, y, z), where s is the real part, x, y, z are the imaginary parts.

Specified by:

setRotation in interface VObject

setRotation

public void setRotation(float[] ra,
                        int raIndex)

Description copied from interface: VObject

Like setRotation(ra), but starting at the specified offset.

Specified by:

setRotation in interface VObject

setRotation

public void setRotation(float qs,
                        float qx,
                        float qy,
                        float qz)

Description copied from interface: VObject

Sets the rotation quaternion from four floats. qs is the real part, qx, qy, qz the imaginary parts.

Specified by:

setRotation in interface VObject

setSid

public void setSid(String sid)

Description copied from interface: VObject

Sets the sid for this VObject.

Specified by:

setSid in interface VObject

setTranslation

public void setTranslation(float[] ta)

Description copied from interface: VObject

Sets the translation vector from a float array of length three.

Specified by:

setTranslation in interface VObject

setTranslation

public void setTranslation(float[] ta,
                           int taIndex)

Description copied from interface: VObject

Like setTranslation(ta), but starting at the specified offset.

Specified by:

setTranslation in interface VObject

setTranslation

public void setTranslation(float tx,
                           float ty,
                           float tz)

Description copied from interface: VObject

Sets the current translation vector from three floats.

Specified by:

setTranslation in interface VObject

setVelocity

public void setVelocity(float[] v)

Description copied from interface: VObject

Sets the velocity vector from a float array of length three.

Specified by:

setVelocity in interface VObject

setVelocity

public void setVelocity(float[] vc,
                        int vcIndex)

Description copied from interface: VObject

Like setVelocity(va), but starting at the specified offset.

Specified by:

setVelocity in interface VObject

setVelocity

public void setVelocity(float vx,
                        float vy,
                        float vz)

Description copied from interface: VObject

Sets the velocity vector from three floats.

Specified by:

setVelocity in interface VObject

setEnabled

public void setEnabled(boolean enabled)

Disables or enables the segment. Disabled segments are not updated with the physical simulation step and do not collide with other segments.

Parameters:

enabled -

getRotationBuffer

public float[] getRotationBuffer()

getScale

public void getScale(float[] r)

Description copied from interface: VObject

Returns the scale vector in a float array of length three.

Specified by:

getScale in interface VObject

setScale

public void setScale(float[] sa)

Description copied from interface: VObject

Sets the scale vector from a float array of lebgth three.

Specified by:

setScale in interface VObject

setScale

public void setScale(float[] sa,
                     int saIndex)

Description copied from interface: VObject

Like setScale(sa), but starting at the specified offset

Specified by:

setScale in interface VObject

getScale

public void getScale(float[] r,
                     int index)

Description copied from interface: VObject

Like getScale(sa), but starting at the specified offset.

Specified by:

getScale in interface VObject

getScaleBuffer

public float[] getScaleBuffer()

getTranslationBuffer

public float[] getTranslationBuffer()

createMass

public abstract Mass createMass()

Create the appropiate mass subclass

Returns:

the mass