BowlerKernel
Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes | List of all members
com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager Class Reference
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Public Member Functions

 MobileBasePhysicsManager (MobileBase base, ArrayList< CSG > baseCad, HashMap< LinkConfiguration, ArrayList< CSG >> simplecad)
 
 MobileBasePhysicsManager (MobileBase base, ArrayList< CSG > baseCad, HashMap< LinkConfiguration, ArrayList< CSG >> simplecad, PhysicsCore core)
 
void clear ()
 

Static Public Attributes

static final float PhysicsGravityScalar = 6
 
static final float LIFT_EPS = (float) Math.toRadians(0.1)
 

Private Member Functions

IPhysicsUpdate getUpdater (RigidBody body, IMU base)
 

Private Attributes

HashMap< LinkConfiguration, ArrayList< CSG > > simplecad
 
float lift = 0
 
ArrayList< ILinkListener > linkListeners = new ArrayList<>()
 

Detailed Description

Definition at line 39 of file MobileBasePhysicsManager.java.

Constructor & Destructor Documentation

◆ MobileBasePhysicsManager() [1/2]

com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager ( MobileBase  base,
ArrayList< CSG >  baseCad,
HashMap< LinkConfiguration, ArrayList< CSG >>  simplecad 
)

Definition at line 95 of file MobileBasePhysicsManager.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsEngine.get(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.simplecad.

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◆ MobileBasePhysicsManager() [2/2]

com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager ( MobileBase  base,
ArrayList< CSG >  baseCad,
HashMap< LinkConfiguration, ArrayList< CSG >>  simplecad,
PhysicsCore  core 
)

Definition at line 100 of file MobileBasePhysicsManager.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.add(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.addLinkListener(), com.neuronrobotics.bowlerstudio.physics.TransformFactory.bulletToAffine(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.copy(), com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInversePrismatic(), com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverseRotory(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.forwardKinematics(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.forwardOffset(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getAbstractLink(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.getBaseCad(), com.neuronrobotics.bowlerstudio.physics.CSGPhysicsManager.getBoundingBox(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getCachedChain(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getCurrentPosition(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.CSGPhysicsManager.getFallRigidBody(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFiducialToGlobalTransform(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getImu(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getImu(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getMassKg(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getMassKg(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMaxEngineeringUnits(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMinEngineeringUnits(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getNumberOfLinks(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getRobotToFiducialTransform(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.getUpdater(), eu.mihosoft.vrl.v3d.CSG.hullAll(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPassive(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPrismatic(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.lift, com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.linkListeners, com.neuronrobotics.bowlerstudio.physics.TransformFactory.nrToAffine(), com.neuronrobotics.bowlerstudio.physics.TransformFactory.nrToBullet(), com.neuronrobotics.bowlerstudio.physics.TransformFactory.nrToCSG(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.PhysicsGravityScalar, com.neuronrobotics.bowlerstudio.physics.CSGPhysicsManager.setBaseCSG(), eu.mihosoft.vrl.v3d.CSG.setColor(), com.neuronrobotics.bowlerstudio.physics.HingeCSGPhysicsManager.setConstraint(), com.neuronrobotics.bowlerstudio.physics.HingeCSGPhysicsManager.setController(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.setFiducialToGlobalTransform(), eu.mihosoft.vrl.v3d.CSG.setManipulator(), com.neuronrobotics.bowlerstudio.physics.HingeCSGPhysicsManager.setMuscleStrength(), com.neuronrobotics.bowlerstudio.physics.HingeCSGPhysicsManager.setTarget(), com.neuronrobotics.bowlerstudio.physics.CSGPhysicsManager.setUpdateManager(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.simplecad, eu.mihosoft.vrl.v3d.CSG.transformed(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.translateZ(), and com.neuronrobotics.sdk.util.ThreadUtil.wait().

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Member Function Documentation

◆ clear()

void com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.clear ( )

Definition at line 317 of file MobileBasePhysicsManager.java.

References com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.linkListeners, and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.simplecad.

◆ getUpdater()

IPhysicsUpdate com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.getUpdater ( RigidBody  body,
IMU  base 
)
private

Definition at line 47 of file MobileBasePhysicsManager.java.

References com.neuronrobotics.bowlerstudio.physics.TransformFactory.nrToBullet(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.PhysicsGravityScalar, and com.neuronrobotics.sdk.addons.kinematics.imu.IMU.setVirtualState().

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

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Member Data Documentation

◆ lift

float com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.lift = 0
private

Definition at line 43 of file MobileBasePhysicsManager.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

◆ LIFT_EPS

final float com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.LIFT_EPS = (float) Math.toRadians(0.1)
static

Definition at line 45 of file MobileBasePhysicsManager.java.

◆ linkListeners

ArrayList<ILinkListener> com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.linkListeners = new ArrayList<>()
private

Definition at line 44 of file MobileBasePhysicsManager.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.clear(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

◆ PhysicsGravityScalar

final float com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.PhysicsGravityScalar = 6
static

Definition at line 41 of file MobileBasePhysicsManager.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.getUpdater(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.PhysicsCore().

◆ simplecad

HashMap<LinkConfiguration, ArrayList<CSG> > com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.simplecad
private

Definition at line 42 of file MobileBasePhysicsManager.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.clear(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

The documentation for this class was generated from the following file:
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