org.odejava.xode
Class XODEJoint

java.lang.Object
  extended by org.odejava.xode.XODEObject
      extended by org.odejava.xode.XODEJoint
All Implemented Interfaces:
Serializable

public class XODEJoint
extends XODEObject
implements Serializable

XODE representation of a Joint

Author:
Matteo Migliavacca, William Denniss
See Also:
Serialized Form

Field Summary
protected  org.openmali.vecmath2.Vector3f anchor
           
protected  List<XODEJointAxis> axes
           
protected  String jointType
           
protected  String link1
           
protected  String link2
           
static org.apache.log4j.Logger log
           
 
Fields inherited from class org.odejava.xode.XODEObject
node, odeObject
 
Constructor Summary
protected XODEJoint()
           
  XODEJoint(Node xodeData)
           
  XODEJoint(String name, org.openmali.vecmath2.Vector3f anchor, String link1, String link2, String jointType, List<XODEJointAxis> axes)
           
 
Method Summary
 void addAxes(Joint joint)
           
 Element buildElement(Document doc)
          Builds an XML DOM representation of this XODEObject
 void buildOde(World world, Space space, String namePrefix, List<Object> odeList)
          Constructs the ODE scene based on this XODE structure
 org.openmali.vecmath2.Vector3f getAnchor()
           
static org.openmali.vecmath2.Vector3f parseAnchor(Node jointNode)
           
 void parseXODEAxis(Node xodeData)
           
 
Methods inherited from class org.odejava.xode.XODEObject
clone, getDOMNode, getFirstBodyAncestor, getFirstJointGroupAncestor, getFirstSpaceAncestor, getName, getODEObject, getParent, setName, setParent
 
Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

link1

protected String link1

link2

protected String link2

anchor

protected org.openmali.vecmath2.Vector3f anchor

axes

protected List<XODEJointAxis> axes

jointType

protected String jointType

log

public static org.apache.log4j.Logger log
Constructor Detail

XODEJoint

protected XODEJoint()

XODEJoint

public XODEJoint(String name,
                 org.openmali.vecmath2.Vector3f anchor,
                 String link1,
                 String link2,
                 String jointType,
                 List<XODEJointAxis> axes)

XODEJoint

public XODEJoint(Node xodeData)
Method Detail

parseXODEAxis

public void parseXODEAxis(Node xodeData)

parseAnchor

public static org.openmali.vecmath2.Vector3f parseAnchor(Node jointNode)

getAnchor

public org.openmali.vecmath2.Vector3f getAnchor()

buildOde

public void buildOde(World world,
                     Space space,
                     String namePrefix,
                     List<Object> odeList)
Description copied from class: XODEObject
Constructs the ODE scene based on this XODE structure

Specified by:
buildOde in class XODEObject
Parameters:
world - the World to add created bodies
space - the Space to add created geometry
namePrefix - string to prefix all names
odeList - list of all created ODE files (will be added to)

addAxes

public void addAxes(Joint joint)

buildElement

public Element buildElement(Document doc)
Description copied from class: XODEObject
Builds an XML DOM representation of this XODEObject

Specified by:
buildElement in class XODEObject
Parameters:
doc - the Document this Element will be associated with
Returns:
and XML DOM representation of this XODEObject