hmi.physics.controller
Class ScriptJointController

java.lang.Object
  hmi.physics.controller.ScriptController
      hmi.physics.controller.ScriptJointController

All Implemented Interfaces:

PhysicalController

public class ScriptJointController
extends ScriptController

The ScriptJointController controls a single joint, using a Rhino (javascript syntax) script. The update(timediff) function in the script is called every frame. PhysicalJoint joint can be used in the script to set up joint torque, etc.

Author:

welberge

Field Summary

private String[]	desJointIDs
private PhysicalJoint	joint
private String[]	jointIDs

Fields inherited from class hmi.physics.controller.ScriptController

jsEngine

Constructor Summary

ScriptJointController(PhysicalJoint pj)
Constructor

Method Summary

PhysicalController	copy(PhysicalHumanoid ph) Creates a copy of the controller
String[]	getDesiredJointIDs() Gets the ids of joints the controller would like to steer if available
String	getParameterValue(String name) Get the parameter value of parameter name, return null if not found
String[]	getRequiredJointIDs() Gets the ids of controlled joints
void	setParameterValue(String name, float value)
void	setParameterValue(String name, String value)
void	setPhysicalHumanoid(PhysicalHumanoid ph) Links the controller to a new set of physical joints

Methods inherited from class hmi.physics.controller.ScriptController

getScript, reset, setScript, update

Methods inherited from class java.lang.Object

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

Field Detail

joint

private PhysicalJoint joint

jointIDs

private String[] jointIDs

desJointIDs

private String[] desJointIDs

Constructor Detail

ScriptJointController

public ScriptJointController(PhysicalJoint pj)

Constructor

Parameters:

pj - the controlled joint

Method Detail

getRequiredJointIDs

public String[] getRequiredJointIDs()

Description copied from interface: PhysicalController

Gets the ids of controlled joints

setPhysicalHumanoid

public void setPhysicalHumanoid(PhysicalHumanoid ph)

Description copied from interface: PhysicalController

Links the controller to a new set of physical joints

Parameters:

ph - physical humanoid to link to

copy

public PhysicalController copy(PhysicalHumanoid ph)

Description copied from interface: PhysicalController

Creates a copy of the controller

getParameterValue

public String getParameterValue(String name)

Description copied from interface: PhysicalController

Get the parameter value of parameter name, return null if not found

setParameterValue

public void setParameterValue(String name,
                              String value)

setParameterValue

public void setParameterValue(String name,
                              float value)

getDesiredJointIDs

public String[] getDesiredJointIDs()

Description copied from interface: PhysicalController

Gets the ids of joints the controller would like to steer if available