com.yobotics.simulationconstructionset
Class ExternalForcePoint

java.lang.Object
  com.yobotics.simulationconstructionset.KinematicPoint
      com.yobotics.simulationconstructionset.ExternalForcePoint

All Implemented Interfaces:

java.io.Serializable

Direct Known Subclasses:

GroundContactPoint

public class ExternalForcePoint
extends KinematicPoint

See Also:

Serialized Form

Field Summary

YoVariable	fx
YoVariable	fy
YoVariable	fz
YoVariable	px
YoVariable	py
YoVariable	pz

Fields inherited from class com.yobotics.simulationconstructionset.KinematicPoint

dx, dy, dz, x, y, z

Constructor Summary

ExternalForcePoint(java.lang.String name, javax.vecmath.Vector3d offset, Robot rob)

Method Summary

void	resolveCollision(ExternalForcePoint externalForcePoint, javax.vecmath.Vector3d normal_world, double epsilon, double mu, javax.vecmath.Vector3d p_world)
void	resolveCollision(javax.vecmath.Vector3d vel_world, javax.vecmath.Vector3d normal_world, double epsilon, double mu, javax.vecmath.Vector3d p_world)
void	resolveMicroCollision(double penetration_squared, javax.vecmath.Vector3d vel_world, javax.vecmath.Vector3d normal_world, double epsilon, double mu, javax.vecmath.Vector3d p_world)
java.lang.String	toString()

Methods inherited from class com.yobotics.simulationconstructionset.KinematicPoint

getKinematicPointUpdater, getName, getOffset, getParentJoint, setKinematicPointUpdater, setOffsetJoint, setOffsetJoint, setOffsetWorld, setParentJoint

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

fx

public YoVariable fx

fy

public YoVariable fy

fz

public YoVariable fz

px

public YoVariable px

py

public YoVariable py

pz

public YoVariable pz

Constructor Detail

ExternalForcePoint

public ExternalForcePoint(java.lang.String name,
                          javax.vecmath.Vector3d offset,
                          Robot rob)

Method Detail

toString

public java.lang.String toString()

Overrides:

toString in class KinematicPoint

resolveCollision

public void resolveCollision(ExternalForcePoint externalForcePoint,
                             javax.vecmath.Vector3d normal_world,
                             double epsilon,
                             double mu,
                             javax.vecmath.Vector3d p_world)

resolveCollision

public void resolveCollision(javax.vecmath.Vector3d vel_world,
                             javax.vecmath.Vector3d normal_world,
                             double epsilon,
                             double mu,
                             javax.vecmath.Vector3d p_world)

resolveMicroCollision

public void resolveMicroCollision(double penetration_squared,
                                  javax.vecmath.Vector3d vel_world,
                                  javax.vecmath.Vector3d normal_world,
                                  double epsilon,
                                  double mu,
                                  javax.vecmath.Vector3d p_world)