Package org.robwork.sdurwsim

Class RigidBodyPtr

java.lang.Object

org.robwork.sdurwsim.RigidBodyPtr

public class RigidBodyPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
RigidBodyPtr()	Default constructor yielding a NULL-pointer.
RigidBodyPtr(long cPtr, boolean cMemoryOwn)
RigidBodyPtr(RigidBody ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
RigidBody	__ref__()	Dereferencing operator.
void	addForce(Vector3D force, State state)
void	addForceToPos(Vector3D force, Vector3D pos, State state)
void	addForceW(Vector3D force, State state)
void	addForceWToPosW(Vector3D force, Vector3D pos, State state)
void	addTorque(Vector3D t, State state)
void	addTorqueW(Vector3D t, State state)
InertiaMatrixd	calcEffectiveMass(Vector3D wPc, State state)
InertiaMatrixd	calcEffectiveMassW(Vector3D wPc, State state)
double	calcEnergy(State state)
InertiaMatrixd	calcInertiaTensor(State state)
InertiaMatrixd	calcInertiaTensorInv(State state)
void	delete()
RigidBody	deref()	The pointer stored in the object.
boolean	equals(RigidBody p)
Vector3D	getAngVel(State state)
Vector3D	getAngVelW(State state)
Frame	getBodyFrame()
InertiaMatrixd	getBodyInertia()
InertiaMatrixd	getBodyInertiaInv()
static long	getCPtr(RigidBodyPtr obj)
RigidBody	getDeref()	Member access operator.
Vector3D	getForce(State state)
Vector3D	getForceW(State state)
FrameVector	getFrames()
InertiaMatrixd	getInertia()
BodyInfo	getInfo()
Vector3D	getLinVel(State state)
Vector3D	getLinVelW(State state)	return the linear velocity described in world frame
double	getMass()
java.lang.String	getMaterialID()
MovableFrame	getMovableFrame()
java.lang.String	getName()
Frame	getParent(State state)
Frame	getParentFrame(State state)
Vector3D	getPointVel(Vector3D p, State state)
Vector3D	getPointVelW(Vector3D p, State state)	interface functions
Transform3D	getPTBody(State state)
Vector3D	getTorque(State state)
Vector3D	getTorqueW(State state)
Transform3D	getTransformW(State state)
Transform3D	getWTBody(State state)
Transform3D	getWTParent(State state)
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
Transform3D	place(CollisionDetectorPtr coldect, State state)
Transform3D	place(CollisionDetectorPtr coldect, State state, Vector3D dir)
Transform3D	pTbf(State state)
Transform3D	pTcom(State state)
void	reset(State state)
void	setAngVel(Vector3D avel, State state)
void	setAngVelW(Vector3D avel, State state)
void	setForce(Vector3D f, State state)
void	setForceW(Vector3D f, State state)
void	setLinVel(Vector3D lvel, State state)
void	setLinVelW(Vector3D lvel, State state)
void	setMass(double m)
void	setMass(double m, InertiaMatrixd inertia)
void	setMass(double m, InertiaMatrixd inertia, Vector3D com)
void	setPTBody(Transform3D pTb, State state)
void	setTorque(Vector3D t, State state)
void	setTorqueW(Vector3D t, State state)
Transform3D	wTbf(State state)
Transform3D	wTcom(State state)

Methods inherited from class java.lang.Object

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

Constructor Detail

RigidBodyPtr

public RigidBodyPtr(long cPtr,
                    boolean cMemoryOwn)

RigidBodyPtr

public RigidBodyPtr()

Default constructor yielding a NULL-pointer.

RigidBodyPtr

public RigidBodyPtr(RigidBody ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(RigidBodyPtr obj)

delete

public void delete()

deref

public RigidBody deref()

The pointer stored in the object.

__ref__

public RigidBody __ref__()

Dereferencing operator.

getDeref

public RigidBody getDeref()

Member access operator.

equals

public boolean equals(RigidBody p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

getParent

public Frame getParent(State state)

getPTBody

public Transform3D getPTBody(State state)

setPTBody

public void setPTBody(Transform3D pTb,
                      State state)

getWTBody

public Transform3D getWTBody(State state)

getWTParent

public Transform3D getWTParent(State state)

getLinVel

public Vector3D getLinVel(State state)

getLinVelW

public Vector3D getLinVelW(State state)

return the linear velocity described in world frame

setLinVel

public void setLinVel(Vector3D lvel,
                      State state)

setLinVelW

public void setLinVelW(Vector3D lvel,
                       State state)

getAngVel

public Vector3D getAngVel(State state)

getAngVelW

public Vector3D getAngVelW(State state)

setAngVel

public void setAngVel(Vector3D avel,
                      State state)

setAngVelW

public void setAngVelW(Vector3D avel,
                       State state)

getPointVel

public Vector3D getPointVel(Vector3D p,
                            State state)

getMass

public double getMass()

getBodyInertia

public InertiaMatrixd getBodyInertia()

getBodyInertiaInv

public InertiaMatrixd getBodyInertiaInv()

calcInertiaTensorInv

public InertiaMatrixd calcInertiaTensorInv(State state)

calcInertiaTensor

public InertiaMatrixd calcInertiaTensor(State state)

getMovableFrame

public MovableFrame getMovableFrame()

calcEffectiveMass

public InertiaMatrixd calcEffectiveMass(Vector3D wPc,
                                        State state)

calcEffectiveMassW

public InertiaMatrixd calcEffectiveMassW(Vector3D wPc,
                                         State state)

getBodyFrame

public Frame getBodyFrame()

getFrames

public FrameVector getFrames()

getInfo

public BodyInfo getInfo()

getName

public java.lang.String getName()

getMaterialID

public java.lang.String getMaterialID()

getInertia

public InertiaMatrixd getInertia()

setMass

public void setMass(double m)

setMass

public void setMass(double m,
                    InertiaMatrixd inertia)

setMass

public void setMass(double m,
                    InertiaMatrixd inertia,
                    Vector3D com)

getPointVelW

public Vector3D getPointVelW(Vector3D p,
                             State state)

interface functions

reset

public void reset(State state)

calcEnergy

public double calcEnergy(State state)

setForce

public void setForce(Vector3D f,
                     State state)

getForce

public Vector3D getForce(State state)

addForce

public void addForce(Vector3D force,
                     State state)

setTorque

public void setTorque(Vector3D t,
                      State state)

addTorque

public void addTorque(Vector3D t,
                      State state)

getTorque

public Vector3D getTorque(State state)

getParentFrame

public Frame getParentFrame(State state)

setForceW

public void setForceW(Vector3D f,
                      State state)

getForceW

public Vector3D getForceW(State state)

addForceW

public void addForceW(Vector3D force,
                      State state)

addForceToPos

public void addForceToPos(Vector3D force,
                          Vector3D pos,
                          State state)

addForceWToPosW

public void addForceWToPosW(Vector3D force,
                            Vector3D pos,
                            State state)

setTorqueW

public void setTorqueW(Vector3D t,
                       State state)

addTorqueW

public void addTorqueW(Vector3D t,
                       State state)

getTorqueW

public Vector3D getTorqueW(State state)

getTransformW

public Transform3D getTransformW(State state)

pTbf

public Transform3D pTbf(State state)

pTcom

public Transform3D pTcom(State state)

wTbf

public Transform3D wTbf(State state)

wTcom

public Transform3D wTcom(State state)

place

public Transform3D place(CollisionDetectorPtr coldect,
                         State state,
                         Vector3D dir)

place

public Transform3D place(CollisionDetectorPtr coldect,
                         State state)