Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.odenode

Class ODEAngularMotor

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.pose.Pose

com.marginallyclever.ro3.node.nodes.odenode.ODENode

com.marginallyclever.ro3.node.nodes.odenode.ODEJoint

com.marginallyclever.ro3.node.nodes.odenode.ODEAngularMotor

All Implemented Interfaces:

ODELinkAttachListener, ODELinkDetachListener, PoseChangeListener, EventListener

public class ODEAngularMotor
extends ODEJoint

Wrapper for an angular motor joint in ODE4J. If one side of the motor is null then it is attached to the world.

If the physics simulation is paused then then moving this Pose will adjust the position and orientation as well as its relation to the attached parts. If the simulation is NOT paused then the motor will behave as normal.

The motor applies force on its local Z axis.

Constructor Summary

Constructors

Constructor	Description
ODEAngularMotor()
ODEAngularMotor(String name)

Method Summary

Modifier and Type	Method	Description
void	addTorque(double qty)
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
double	getAngleMax()
double	getAngleMin()
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
double	getForceMax()
Icon	getIcon()	Set a custom icon for this node.
org.ode4j.ode.DAMotorJoint	getMotor()
void	setAngleMax(double angle)
void	setAngleMin(double angle)
void	setForceMax(double force)
void	setLocal(javax.vecmath.Matrix4d m)	Set the local transform of this pose.
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.
void	update(double dt)	Called every frame.

Methods inherited from class com.marginallyclever.ro3.node.nodes.odenode.ODEJoint

getPartA, getPartB, linkAttached, linkDetached, setPartA, setPartB

Methods inherited from class com.marginallyclever.ro3.node.nodes.pose.Pose

addPoseChangeListener, getLocal, getParentPose, getPosition, getRotationEuler, getRotationIndex, getWorld, onPoseChange, removePoseChangeListener, setPosition, setRotationEuler, setRotationIndex, setWorld

Methods inherited from class com.marginallyclever.ro3.node.Node

addAttachListener, addChild, addChild, addDetachListener, addReadyListener, addRenameListener, findByPath, findChild, findChild, findFirstChild, findFirstSibling, findNodeByID, findParent, findParent, getAbsolutePath, getChildren, getName, getParent, getRootNode, getUniqueID, hasParent, isNameUsedBySibling, removeAttachListener, removeChild, removeDetachListener, removeReadyListener, removeRenameListener, setName, witnessProtection

Methods inherited from class java.lang.Object

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

Constructor Details

ODEAngularMotor

public ODEAngularMotor()

ODEAngularMotor

public ODEAngularMotor(String name)

Method Details

getComponents

public void getComponents(List<JPanel> list)

Description copied from class: Pose

Build a Swing Component that represents this Node.

Overrides:

getComponents in class ODEJoint

Parameters:

list - the list to add components to.

getMotor

public org.ode4j.ode.DAMotorJoint getMotor()

setLocal

public void setLocal(javax.vecmath.Matrix4d m)

Description copied from class: Pose

Set the local transform of this pose. This is the best method to override if you want to capture changes to the local OR world transform.

Overrides:

setLocal in class Pose

Parameters:

m - the new local transform.

update

public void update(double dt)

Description copied from class: Node

Called every frame.

Overrides:

update in class ODENode

Parameters:

dt - the time since the last frame.

toJSON

public org.json.JSONObject toJSON()

Description copied from class: Node

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Overrides:

toJSON in class ODEJoint

Returns:

the JSON object.

fromJSON

public void fromJSON(org.json.JSONObject from)

Description copied from class: Node

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Overrides:

fromJSON in class ODEJoint

Parameters:

from - the JSON object to read from.

getAngleMax

public double getAngleMax()

Returns:

angle in degrees

getAngleMin

public double getAngleMin()

Returns:

angle in degrees

setForceMax

public void setForceMax(double force)

getForceMax

public double getForceMax()

setAngleMax

public void setAngleMax(double angle)

Parameters:

angle - in degrees

setAngleMin

public void setAngleMin(double angle)

Parameters:

angle - in degrees

getIcon

public Icon getIcon()

Description copied from class: Node

Set a custom icon for this node.

Overrides:

getIcon in class Pose

Returns:

the icon, or null if none.

addTorque

public void addTorque(double qty)