hmi.physics.ode
Class OdeMass

java.lang.Object
  hmi.physics.Mass
      hmi.physics.ode.OdeMass

public class OdeMass
extends Mass

Field Summary

private org.odejava.Mass

mass

Constructor Summary

OdeMass()

OdeMass(org.odejava.ode.dMass m)

Method Summary

void	adjustMass(float newMass) Adjust the mass to be newMass (in kg)
void	adjustMass(float m, org.odejava.Body b)
Mass	copy()
void	getCOM(float[] center) Get the center of mass
void	getInertiaTensor(float[] I) Get the inertia tensor
float	getMass() Get the mass (in kg)
org.odejava.Mass	getOMass() Gets the ode mass representation
void	rotate(float[] q) Rotates the inertia tensor
void	setCOM(float[] c) Sets the center of mass
void	setCOM(float[] c, org.odejava.Body body) Set the mass and apply it to a body
void	setFromBox(float[] size, float density) Set a new box mass, assumes center at (0,0,0)
void	setFromCapsule(float radius, float height, int direction, float density) Set a capsule mass, assume center = CoM at (0,0,0)
void	setFromGMesh(GMesh m, float density) Set mass properties on the basis of a closed GMesh, assumes uniform density density is set in kg/m3 (or mass unit/length unit^3)
void	setFromSphere(float radius, float density) Set a sphere-shaped mass, assume center at (0,0,0)
void	setInertiaTensor(float[] I) Sets the inertia tensor
void	setInertiaTensor(float[] I, org.odejava.Body body) Set the inertia tensor and apply it to a body
String	toString() String representation
void	translate(float x, float y, float z) Translates the COM and inertia tensor

Methods inherited from class hmi.physics.Mass

addMass, scale, scale, translate

Methods inherited from class java.lang.Object

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

Field Detail

mass

private org.odejava.Mass mass

Constructor Detail

OdeMass

public OdeMass()

OdeMass

public OdeMass(org.odejava.ode.dMass m)

Method Detail

adjustMass

public void adjustMass(float m,
                       org.odejava.Body b)

adjustMass

public void adjustMass(float newMass)

Description copied from class: Mass

Adjust the mass to be newMass (in kg)

Specified by:

adjustMass in class Mass

Parameters:

newMass - the new mass

getCOM

public void getCOM(float[] center)

Description copied from class: Mass

Get the center of mass

Specified by:

getCOM in class Mass

getInertiaTensor

public void getInertiaTensor(float[] I)

Description copied from class: Mass

Get the inertia tensor

Specified by:

getInertiaTensor in class Mass

getOMass

public org.odejava.Mass getOMass()

Gets the ode mass representation

Returns:

the ode mass rep

getMass

public float getMass()

Description copied from class: Mass

Get the mass (in kg)

Specified by:

getMass in class Mass

Returns:

the mass

setFromBox

public void setFromBox(float[] size,
                       float density)

Description copied from class: Mass

Set a new box mass, assumes center at (0,0,0)

Specified by:

setFromBox in class Mass

Parameters:

size - of the sides of the box

density - the density of the box

setFromGMesh

public void setFromGMesh(GMesh m,
                         float density)

Description copied from class: Mass

Set mass properties on the basis of a closed GMesh, assumes uniform density density is set in kg/m3 (or mass unit/length unit^3)

Specified by:

setFromGMesh in class Mass

translate

public void translate(float x,
                      float y,
                      float z)

Description copied from class: Mass

Translates the COM and inertia tensor

Specified by:

translate in class Mass

toString

public String toString()

Description copied from class: Mass

String representation

Specified by:

toString in class Mass

setFromSphere

public void setFromSphere(float radius,
                          float density)

Description copied from class: Mass

Set a sphere-shaped mass, assume center at (0,0,0)

Specified by:

setFromSphere in class Mass

Parameters:

radius - radius of the sphere

density - density of the sphere

setFromCapsule

public void setFromCapsule(float radius,
                           float height,
                           int direction,
                           float density)

Description copied from class: Mass

Set a capsule mass, assume center = CoM at (0,0,0)

Specified by:

setFromCapsule in class Mass

Parameters:

radius - radius of the spheres and cylinder

height - height of the cylinder

direction - direction of the long axes of the cylinder: 1=x, 2=y, 3=z

density - density

setCOM

public void setCOM(float[] c)

Description copied from class: Mass

Sets the center of mass

Specified by:

setCOM in class Mass

setCOM

public void setCOM(float[] c,
                   org.odejava.Body body)

Set the mass and apply it to a body

setInertiaTensor

public void setInertiaTensor(float[] I)

Description copied from class: Mass

Sets the inertia tensor

Specified by:

setInertiaTensor in class Mass

setInertiaTensor

public void setInertiaTensor(float[] I,
                             org.odejava.Body body)

Set the inertia tensor and apply it to a body

rotate

public void rotate(float[] q)

Description copied from class: Mass

Rotates the inertia tensor

Specified by:

rotate in class Mass

Parameters:

q - rotation as quaternion

copy

public Mass copy()

Specified by:

copy in class Mass