hmi.physics.ode
Class OdeHumanoid

java.lang.Object
  hmi.physics.PhysicalHumanoid
      hmi.physics.ode.OdeHumanoid

public class OdeHumanoid
extends PhysicalHumanoid

Field Summary

private org.odejava.collision.JavaCollision	collision
private org.odejava.collision.Contact	contact
private HashMap<Long,PhysicalSegment>	geomSegmentMap
private org.odejava.GeomPlane	groundGeom
private org.odejava.JointGroup	jointGroup
private org.odejava.Space	space
private org.odejava.World	world

Fields inherited from class hmi.physics.PhysicalHumanoid

joints, namePhysicalJointMap, nameSegmentMap, rootRotationBuffer, rootTranslationBuffer

Constructor Summary

OdeHumanoid(String id, org.odejava.World w, org.odejava.Space s)
Constructor

Method Summary

void	clear() removes all segments
OdeHumanoid	createNew(String id) Create a new PhysicalHumanoid of the same type
PhysicalSegment	createSegment(String segmentId, String segmentSID) Creates a PhysicalSegment of the correct type for this PhysicalHumanoid subclass and makes sure its rigid body exists
PhysicalSegment	getSegment(long geomId) Get the PhysicalSegment corresponding with this geometry id
protected void	handleCollisions() Determine collisions, for now just with the ground
void	setCollision(org.odejava.collision.JavaCollision col)
void	setGroundGeom(org.odejava.GeomPlane groundGeom)
void	setupHashMaps(PhysicalSegment ps) Add a PhysicalSegment to the name->segment HashMap
PhysicalJoint	setupJoint(String name, PhysicalSegment seg1, PhysicalSegment seg2, float[] anchor) Creates a PhysicalJoint

Methods inherited from class hmi.physics.PhysicalHumanoid

addRootSegment, addSegment, copy, getCOM, getCOMDiff, getCOMNoContacts, getCOMNoContactsDiff, getCOMOffset, getCOMOffsetDiff, getCOMOffsetMass, getId, getJoint, getJoints, getRootSegment, getSegment, getSegments, getTotalMass, isEnabled, removeFromHashMap, removeSegment, set, setCOMOffset, setEnabled, setNullPoseFromVJoint, setPoseFromVJoint, setRelativeTranslation, setRelativeTranslation, setRootRotationBuffer, setRootSegment, setRootTranslationBuffer, setRotation, toString, updateCollision, updateCOM

Methods inherited from class java.lang.Object

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

Field Detail

world

private org.odejava.World world

space

private org.odejava.Space space

jointGroup

private org.odejava.JointGroup jointGroup

groundGeom

private org.odejava.GeomPlane groundGeom

collision

private org.odejava.collision.JavaCollision collision

contact

private org.odejava.collision.Contact contact

geomSegmentMap

private HashMap<Long,PhysicalSegment> geomSegmentMap

Constructor Detail

OdeHumanoid

public OdeHumanoid(String id,
                   org.odejava.World w,
                   org.odejava.Space s)

Constructor

Parameters:

w - Ode world

s - Ode collision space

Method Detail

createNew

public OdeHumanoid createNew(String id)

Description copied from class: PhysicalHumanoid

Create a new PhysicalHumanoid of the same type

Specified by:

createNew in class PhysicalHumanoid

clear

public void clear()

removes all segments

Overrides:

clear in class PhysicalHumanoid

setupJoint

public PhysicalJoint setupJoint(String name,
                                PhysicalSegment seg1,
                                PhysicalSegment seg2,
                                float[] anchor)

Description copied from class: PhysicalHumanoid

Creates a PhysicalJoint

Specified by:

setupJoint in class PhysicalHumanoid

Parameters:

name - joint name

seg1 - corresponds with visual parent segment

seg2 - corresponds with visual segment that rotates with the joint

anchor - world position of the joint anchor

Returns:

the created joint

setupHashMaps

public void setupHashMaps(PhysicalSegment ps)

Description copied from class: PhysicalHumanoid

Add a PhysicalSegment to the name->segment HashMap

Overrides:

setupHashMaps in class PhysicalHumanoid

Parameters:

ps - the segment

setCollision

public void setCollision(org.odejava.collision.JavaCollision col)

handleCollisions

protected void handleCollisions()

Determine collisions, for now just with the ground

Overrides:

handleCollisions in class PhysicalHumanoid

setGroundGeom

public void setGroundGeom(org.odejava.GeomPlane groundGeom)

Parameters:

groundGeom - the groundGeom to set

getSegment

public PhysicalSegment getSegment(long geomId)

Get the PhysicalSegment corresponding with this geometry id

Parameters:

geomId - the geometry id

Returns:

the PhysicalSegment, null if not found

createSegment

public PhysicalSegment createSegment(String segmentId,
                                     String segmentSID)

Description copied from class: PhysicalHumanoid

Creates a PhysicalSegment of the correct type for this PhysicalHumanoid subclass and makes sure its rigid body exists

Specified by:

createSegment in class PhysicalHumanoid

Returns:

the created segment