RobotArm类 参考

类 RobotArm 继承关系图:

Public 成员函数
float	GetAxisSize ()
void	SetAxisSize (float val)
long	AddJoint (EnumRobotJointType jointType, Matrix4d frame)
long	AddJoint (EnumRobotJointType jointType, Matrix4d frame, double maxV, double minV, double velocity)
long	AddJoint (RobotJoint joint)
RobotJoint	GetJoint (long idx)
long	GetJointCount ()
long	AddLink (long jointIdx, SceneNode bone, String name)
long	AddLink (long jointIdx, SceneNode bone)
RobotLink	GetLink (long idx)
long	GetLinkCount ()
boolean	UpdateLink (long linkIdx, SceneNode bone)
void	Apply ()
boolean	SetValue (long idx, double value)
double	GetValue (long idx)
void	ResetValues ()
void	UpdateFrames ()
Matrix4d	GetFinalFrame ()
void	ShowLinks (boolean bShow)
void	ShowJoints (boolean bShow)
Uint32List	SelfCollisionTest ()
RobotArm	CloneRobotArm ()
SceneNode	Clone ()
Public 成员函数 继承自 GroupSceneNode
SceneNodeIterator	CreateIterator ()
void	AddNode (SceneNode node)
boolean	RemoveNode (java.math.BigInteger nodeId)
SceneNode	FindNode (java.math.BigInteger nodeId)
void	Clear ()
SceneNode	FindNodeByUserId (java.math.BigInteger userId)
long	GetCount ()
void	UpdateTransform (Matrix4d parent)
Public 成员函数 继承自 SceneNode
String	GetName ()
void	SetName (String val)
java.math.BigInteger	GetUserId ()
void	SetUserId (java.math.BigInteger val)
java.math.BigInteger	GetParentId ()
void	SetParentId (java.math.BigInteger val)
Matrix4d	GetTransform ()
AABox	GetBoundingBox ()
void	SetBoundingBox (AABox val)
Matrix4d	GetWorldTransform ()
AABox	GetWorldBBox ()
long	GetState ()
SceneNode	GetParent ()
void	SetParent (SceneNode val)
float	GetPickOrder ()
void	SetPickOrder (float val)
long	GetUpdateVersion ()
void	SetUpdateVersion (long val)
MaterialInstance	GetOverrideFaceMaterial ()
void	SetOverrideFaceMaterial (MaterialInstance val)
MaterialInstance	GetOverrideEdgeMaterial ()
void	SetOverrideEdgeMaterial (MaterialInstance val)
boolean	GetCastShadow ()
void	SetCastShadow (boolean bEnabled)
boolean	GetPickable ()
void	SetPickable (boolean bEnabled)
boolean	GetPickByBox ()
void	SetPickByBox (boolean bEnabled)
boolean	GetCulling ()
void	SetCulling (boolean bEnabled)
boolean	GetVisible ()
void	SetVisible (boolean bEnabled)
boolean	GetChildrenPickable ()
void	SetChildrenPickable (boolean bEnabled)
boolean	GetContainer ()
void	SetContainer (boolean bEnabled)
boolean	GetFixedSize ()
void	SetFixedSize (boolean bEnabled)
boolean	GetInfiniteSize ()
void	SetInfiniteSize (boolean bEnabled)
boolean	GetPhysics ()
void	SetPhysics (boolean bEnabled)
void	SetTransform (Matrix4d trf)
SceneNode	GetRootNode ()
void	RequestUpdate ()
void	AddTransform (Matrix4d trf)
void	SetWorldTransform (Matrix4d world)
AABox	ComputeBoundingBox (Matrix4d parent)
boolean	IsVisiblePath ()
Public 成员函数 继承自 GfxObject
long	GetUuid ()

静态 Public 成员函数
static RobotArm	Cast (GfxObject obj)

详细描述

<>
RobotArm

成员函数说明

AddJoint()

long RobotArm.AddJoint	(	EnumRobotJointType	jointType,
		Matrix4d	frame )

增加轴

参数

jointType

the joint type.

返回

the joint index

AddLink() [1/2]

long RobotArm.AddLink	(	long	jointIdx,
		SceneNode	bone )

Add link to bind the joint.

参数

jointIdx	the index of the joint to bind.
bone	the visual node of the link.

返回

the link index.

AddLink() [2/2]

long RobotArm.AddLink	(	long	jointIdx,
		SceneNode	bone,
		String	name )

Add link to bind the joint.

参数

jointIdx	the index of the joint to bind.
bone	the visual node of the link.

返回

the link index.

Apply()

void RobotArm.Apply

(

)

若对关节或Link做了修改，则调用以应用更改.

Cast()

static RobotArm RobotArm.Cast ( GfxObject obj )

static

重载 GroupSceneNode .

Clone()

SceneNode RobotArm.Clone

(

)

重载 GroupSceneNode .

GetFinalFrame()

Matrix4d RobotArm.GetFinalFrame

(

)

获取末端的矩阵

返回

矩阵

GetJoint()

RobotJoint RobotArm.GetJoint

(

long

idx

)

Get RobotJoint by index

参数

idx

the index

返回

the robot joint.

GetJointCount()

long RobotArm.GetJointCount

(

)

Get the joint count.

返回

the count.

ResetValues()

void RobotArm.ResetValues

(

)

Set the values to zero.

SelfCollisionTest()

Uint32List RobotArm.SelfCollisionTest

(

)

Self collision testing

返回

the link id pair.

SetValue()

boolean RobotArm.SetValue	(	long	idx,
		double	value )

Update the value of the joint.

ShowJoints()

void RobotArm.ShowJoints

(

boolean

bShow

)

Show the axis.

参数

bShow

true to show

ShowLinks()

void RobotArm.ShowLinks

(

boolean

bShow

)

Show the links.

参数

bShow

true to show.

UpdateFrames()

void RobotArm.UpdateFrames

(

)

Compute the transform.

UpdateLink()

boolean RobotArm.UpdateLink	(	long	linkIdx,
		SceneNode	bone )

Update the link.

参数

bone	the new visual node.

返回

true if successful.