msim.serialization

Class DAEMSimJoint

java.lang.Object

msim.serialization.DAEMSimExtra

msim.serialization.DAEMSimLinkageNode

msim.serialization.DAEMSimJoint

Direct Known Subclasses:

DAEMSimClosure

public class DAEMSimJoint
extends DAEMSimLinkageNode

COLLADA "extra" element corresponding to MSim Joint.

Copyright (C) 2010 Marsette A. Vona, III

Author:

Marsette A. Vona, III

Field Summary

Fields

Modifier and Type	Field and Description
java.lang.String[]	childToMobility child_to_mobility achild element TBD custom marshal?
private static java.lang.String	cvsid
double[]	dofLimits dof_limits child element TBD custom marshal?
double[]	dofLock dof_lock child element TBD custom marshal?
double[]	dofPosture dof_posture child element TBD custom marshal?
double[]	dofTarget dof_target child element TBD custom marshal?
Joint.Type	jointType joint_type attribute TBD custom marshal?
boolean	mobilityInverted mobility_inverted attribute
java.lang.String[]	mobilityToParent mobility_to_parent child element TBD custom marshal?
boolean	positioningTransformsLocked positioning_transforms_locked attribute
float	softGoalPriority soft_goal_priority attribute
double	softGoalWeight soft_goal_weight attribute
DAEMSimStiffnessProps	stiffnessProps stiffness_props child element

Fields inherited from class msim.serialization.DAEMSimLinkageNode

explicitlyHidden, explicitlyHighlighted, explicitlyMasked, explicitlyVisible, name

Fields inherited from class msim.serialization.DAEMSimExtra

MSIM_EXTRAS, MSIM_EXTRAS_ARRAY, MSIM_PROFILE

Constructor Summary

Constructors

Constructor and Description
DAEMSimJoint()

Method Summary

Methods

Modifier and Type	Method and Description
java.lang.String	getChildSubframe() Get the name of the child subframe indicated by childToMobility, if any.
java.lang.String	getParentSubframe() Get the name of the parent subframe indicated by mobilityToParent, if any.
DAEMSimJoint	readFrom(Joint joint) Read all settings from joint.
DAEMSimJoint	writeChildToMobilityTo(Joint joint) Interpret childToMobility as either a subframe name or an RX TXEM vector, and set it to joint.
DAEMSimJoint	writeMobilityToParentTo(Joint joint) Interpret mobilityToParent as either a subframe name or an RX TXEM vector, and set it to joint.
DAEMSimJoint	writeTo(Joint joint, vona.math.RX jointRX) Write all settings to joint.

Methods inherited from class msim.serialization.DAEMSimExtra

getXMLElementName, getXMLElementName, parse, parse, unparse, unparse

Methods inherited from class java.lang.Object

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

Field Detail

cvsid

private static final java.lang.String cvsid

See Also:

Constant Field Values

jointType

public Joint.Type jointType

joint_type attribute TBD custom marshal?

mobilityInverted

public boolean mobilityInverted

mobility_inverted attribute

positioningTransformsLocked

public boolean positioningTransformsLocked

positioning_transforms_locked attribute

softGoalPriority

public float softGoalPriority

soft_goal_priority attribute

softGoalWeight

public double softGoalWeight

soft_goal_weight attribute

childToMobility

public java.lang.String[] childToMobility

child_to_mobility achild element TBD custom marshal?

mobilityToParent

public java.lang.String[] mobilityToParent

mobility_to_parent child element TBD custom marshal?

dofLimits

public double[] dofLimits

dof_limits child element TBD custom marshal?

dofTarget

public double[] dofTarget

dof_target child element TBD custom marshal?

dofPosture

public double[] dofPosture

dof_posture child element TBD custom marshal?

dofLock

public double[] dofLock

dof_lock child element TBD custom marshal?

stiffnessProps

public DAEMSimStiffnessProps stiffnessProps

stiffness_props child element

Constructor Detail

DAEMSimJoint

public DAEMSimJoint()

Method Detail

writeTo

public DAEMSimJoint writeTo(Joint joint,
                   vona.math.RX jointRX)

Write all settings to joint.

The joint transform must be supplied by the caller, as it corresponds to the pose of the ancestor COLLADA "node" containing this extra element.

DAEMSimLinkageNode.name is not written to joint.

writeMobilityToParentTo

public DAEMSimJoint writeMobilityToParentTo(Joint joint)

Interpret mobilityToParent as either a subframe name or an RX TXEM vector, and set it to joint.

Subframe can only be set if joint is currently connected to a parent link (else it is ignored).

writeChildToMobilityTo

public DAEMSimJoint writeChildToMobilityTo(Joint joint)

Interpret childToMobility as either a subframe name or an RX TXEM vector, and set it to joint.

Subframe can only be set if joint is currently connected to a child link (else it is ignored).

readFrom

public DAEMSimJoint readFrom(Joint joint)

Read all settings from joint.

Note that the overall joint transform corresponds to the pose of the ancestor COLLADA "node" containing this extra element.

DAEMSimLinkageNode.name is read from joint.

getChildSubframe

public java.lang.String getChildSubframe()

Get the name of the child subframe indicated by childToMobility, if any.

getParentSubframe

public java.lang.String getParentSubframe()

Get the name of the parent subframe indicated by mobilityToParent, if any.