Java Doc for Joint.java in  » 6.0-JDK-Modules » java-3d » com » db » hanim » Java Source Code / Java DocumentationJava Source Code and Java Documentation

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Java Source Code / Java Documentation » 6.0 JDK Modules » java 3d » com.db.hanim   Source Cross Reference   Class Diagram   Java Document (Java Doc)   java.lang.Object    com.db.hanim.Joint Joint public class Joint extends Object (Code) This class is to implement the H-Anim proposed Joint. It's implementation for Java3D has been mimicked on the VRML97 field description. We make a little amendment to H-Anim for uLimit and lLimit: H-Anim states that "the default values for each of these fields is [], which means that the joint is assumed to be unconstrained." However, this is problematic since we can't constrain Y axis (or Z axis) without setting a default value for the X axis (unless we use a hashtable, which sounds absurd in this context). Here, we propose that there should only be valid values between -2*PI and +2*PI. Any other value should be treated as if the joint was unconstrained on this axis. author:    Silvere Martin-Michiellot version:    1.1 Field Summary final public static  int HumanoidRoot      final public static  int NonStandard      protected  Point3d center      protected  HashSet children      protected  String jointName      protected  Double[] lLimit      final public static  int l_acromioclavicular      final public static  int l_ankle      final public static  int l_elbow      final public static  int l_eyeball_joint      final public static  int l_eyebrow_joint      final public static  int l_eyelid_joint      final public static  int l_hip      final public static  int l_index0      final public static  int l_index1      final public static  int l_index2      final public static  int l_index3      final public static  int l_knee      final public static  int l_metatarsal      final public static  int l_middle0      final public static  int l_middle1      final public static  int l_middle2      final public static  int l_middle3      final public static  int l_midtarsal      final public static  int l_pinky0      final public static  int l_pinky1      final public static  int l_pinky2      final public static  int l_pinky3      final public static  int l_ring0      final public static  int l_ring1      final public static  int l_ring2      final public static  int l_ring3      final public static  int l_shoulder      final public static  int l_sternoclavicular      final public static  int l_subtalar      final public static  int l_thumb1      final public static  int l_thumb2      final public static  int l_thumb3      final public static  int l_wrist      protected  AxisAngle4d limitOrientation      final public static  int r_acromioclavicular      final public static  int r_ankle      final public static  int r_elbow      final public static  int r_eyeball_joint      final public static  int r_eyebrow_joint      final public static  int r_eyelid_joint      final public static  int r_hip      final public static  int r_index0      final public static  int r_index1      final public static  int r_index2      final public static  int r_index3      final public static  int r_knee      final public static  int r_metatarsal      final public static  int r_middle0      final public static  int r_middle1      final public static  int r_middle2      final public static  int r_middle3      final public static  int r_midtarsal      final public static  int r_pinky0      final public static  int r_pinky1      final public static  int r_pinky2      final public static  int r_pinky3      final public static  int r_ring0      final public static  int r_ring1      final public static  int r_ring2      final public static  int r_ring3      final public static  int r_shoulder      final public static  int r_sternoclavicular      final public static  int r_subtalar      final public static  int r_thumb1      final public static  int r_thumb2      final public static  int r_thumb3      final public static  int r_wrist      final public static  int sacroiliac      protected  Segment segment      final public static  int skullbase      protected  Double[] stiffness      final public static  int temporomandibular      protected  Transform3D transform3D      protected  Double[] uLimit      final public static  double unconstrained      final public static  int vc1      final public static  int vc2      final public static  int vc3      final public static  int vc4      final public static  int vc5      final public static  int vc6      final public static  int vc7      final public static  int vl1      final public static  int vl2      final public static  int vl3      final public static  int vl4      final public static  int vl5      final public static  int vt1      final public static  int vt10      final public static  int vt11      final public static  int vt12      final public static  int vt2      final public static  int vt3      final public static  int vt4      final public static  int vt5      final public static  int vt6      final public static  int vt7      final public static  int vt8      final public static  int vt9      Constructor Summary public   Joint(String jointName)      Method Summary public  void addChild(Joint joint)      Adds a child to this Joint. public  void addJoint(Joint joint)      Adds joint to the children list of this Joint. public  void getCenter(Point3d point3d)      public  HashSet getChildren()      public  Segment getCorrespondingSegment()      Builds up a new Segment using the official Segment that corresponds to that Joint. public  int getCorrespondingSegmentIdentifier()      Gets the static identifier of the Segment that corresponds to this Joint. public  String getCorrespondingSegmentName()      Gets the official Segment name of the Segment that corresponds to this Joint. public  void getDefaultCenter(Point3d point3d)      Gets the Point3d that defines the overall center offset default value proposed by H-Anim for this Joint. public static  String getJointIdentifierName(int value)      Gets the official Joint name for the static identifier passed as argument. public static  int getJointIdentifierNumber(String jointName)      Gets the static identifier for the String name passed as argument. public  Double[] getLLimit()      public  AxisAngle4d getLimitOrientation()      public  String getName()      public  Segment getSegment()      public  Double[] getStiffness()      public  void getTransform(Transform3D transform3D)      Gets the Transform3D used for this Joint. public  Double[] getULimit()      public  void removeChild(Joint joint)      Removes a child from this Joint. public  void removeJoint(Joint joint)      Removes the Joint from the children list of this Joint. public  void setCenter(Point3d point3d)      Sets the offset center for the Joint. public  void setLLimit(Double[] lLimit)      public  void setLimitOrientation(AxisAngle4d limitOrientation)      public  void setName(String jointName)      public  void setSegment(Segment segment)      Sets the corresponding Segment of this Joint. public  void setStiffness(Double[] stiffness)      public  void setTransform(Transform3D jointTransform)      Sets the Transform3D used for this Joint. public  void setULimit(Double[] uLimit)      public  void useCorrespondingSegment()      Builds up a new Segment using the official Segment that corresponds to that Joint. public  void useDefaultCenter()      Sets the default center used for this Joint to the default value proposed by H-Anim. public  void useDefaultCenterAsTranslation()      Sets the translation used for this Joint to the default value OF THE CENTER proposed by H-Anim. Field Detail HumanoidRoot final public static int HumanoidRoot(Code) NonStandard final public static int NonStandard(Code) center protected Point3d center(Code) children protected HashSet children(Code) jointName protected String jointName(Code) lLimit protected Double[] lLimit(Code) l_acromioclavicular final public static int l_acromioclavicular(Code) l_ankle final public static int l_ankle(Code) l_elbow final public static int l_elbow(Code) l_eyeball_joint final public static int l_eyeball_joint(Code) l_eyebrow_joint final public static int l_eyebrow_joint(Code) l_eyelid_joint final public static int l_eyelid_joint(Code) l_hip final public static int l_hip(Code) l_index0 final public static int l_index0(Code) l_index1 final public static int l_index1(Code) l_index2 final public static int l_index2(Code) l_index3 final public static int l_index3(Code) l_knee final public static int l_knee(Code) l_metatarsal final public static int l_metatarsal(Code) l_middle0 final public static int l_middle0(Code) l_middle1 final public static int l_middle1(Code) l_middle2 final public static int l_middle2(Code) l_middle3 final public static int l_middle3(Code) l_midtarsal final public static int l_midtarsal(Code) l_pinky0 final public static int l_pinky0(Code) l_pinky1 final public static int l_pinky1(Code) l_pinky2 final public static int l_pinky2(Code) l_pinky3 final public static int l_pinky3(Code) l_ring0 final public static int l_ring0(Code) l_ring1 final public static int l_ring1(Code) l_ring2 final public static int l_ring2(Code) l_ring3 final public static int l_ring3(Code) l_shoulder final public static int l_shoulder(Code) l_sternoclavicular final public static int l_sternoclavicular(Code) l_subtalar final public static int l_subtalar(Code) l_thumb1 final public static int l_thumb1(Code) l_thumb2 final public static int l_thumb2(Code) l_thumb3 final public static int l_thumb3(Code) l_wrist final public static int l_wrist(Code) limitOrientation protected AxisAngle4d limitOrientation(Code) r_acromioclavicular final public static int r_acromioclavicular(Code) r_ankle final public static int r_ankle(Code) r_elbow final public static int r_elbow(Code) r_eyeball_joint final public static int r_eyeball_joint(Code) r_eyebrow_joint final public static int r_eyebrow_joint(Code) r_eyelid_joint final public static int r_eyelid_joint(Code) r_hip final public static int r_hip(Code) r_index0 final public static int r_index0(Code) r_index1 final public static int r_index1(Code) r_index2 final public static int r_index2(Code) r_index3 final public static int r_index3(Code) r_knee final public static int r_knee(Code) r_metatarsal final public static int r_metatarsal(Code) r_middle0 final public static int r_middle0(Code) r_middle1 final public static int r_middle1(Code) r_middle2 final public static int r_middle2(Code) r_middle3 final public static int r_middle3(Code) r_midtarsal final public static int r_midtarsal(Code) r_pinky0 final public static int r_pinky0(Code) r_pinky1 final public static int r_pinky1(Code) r_pinky2 final public static int r_pinky2(Code) r_pinky3 final public static int r_pinky3(Code) r_ring0 final public static int r_ring0(Code) r_ring1 final public static int r_ring1(Code) r_ring2 final public static int r_ring2(Code) r_ring3 final public static int r_ring3(Code) r_shoulder final public static int r_shoulder(Code) r_sternoclavicular final public static int r_sternoclavicular(Code) r_subtalar final public static int r_subtalar(Code) r_thumb1 final public static int r_thumb1(Code) r_thumb2 final public static int r_thumb2(Code) r_thumb3 final public static int r_thumb3(Code) r_wrist final public static int r_wrist(Code) sacroiliac final public static int sacroiliac(Code) segment protected Segment segment(Code) skullbase final public static int skullbase(Code) stiffness protected Double[] stiffness(Code) temporomandibular final public static int temporomandibular(Code) transform3D protected Transform3D transform3D(Code) uLimit protected Double[] uLimit(Code) unconstrained final public static double unconstrained(Code) vc1 final public static int vc1(Code) vc2 final public static int vc2(Code) vc3 final public static int vc3(Code) vc4 final public static int vc4(Code) vc5 final public static int vc5(Code) vc6 final public static int vc6(Code) vc7 final public static int vc7(Code) vl1 final public static int vl1(Code) vl2 final public static int vl2(Code) vl3 final public static int vl3(Code) vl4 final public static int vl4(Code) vl5 final public static int vl5(Code) vt1 final public static int vt1(Code) vt10 final public static int vt10(Code) vt11 final public static int vt11(Code) vt12 final public static int vt12(Code) vt2 final public static int vt2(Code) vt3 final public static int vt3(Code) vt4 final public static int vt4(Code) vt5 final public static int vt5(Code) vt6 final public static int vt6(Code) vt7 final public static int vt7(Code) vt8 final public static int vt8(Code) vt9 final public static int vt9(Code) Constructor Detail Joint public Joint(String jointName)(Code) Constructs a new Joint Parameters:   jointName - the name of the Joint that describes in a human readable manner the Joint Method Detail addChild public void addChild(Joint joint)(Code) Adds a child to this Joint. Parameters:   joint - the Joint to be added to the hierarchy as a child of this Joint exception:   IllegalArgumentException - if this joint is an official Joint and the Joint to be added is a non standard Joint or if both Joints are official but joint is not an official child of this Joint. See Also:   com.db.hanim.Joint.addJoint(Joint) addJoint public void addJoint(Joint joint)(Code) Adds joint to the children list of this Joint. Identical to com.db.hanim.Joint#addChild(Joint) Parameters:   joint - the Joint to be added from the children list of this Joint. exception:   IllegalArgumentException - if this joint is an official Joint and the Joint to be added is a non standard Joint or if both Joints are official but joint is not an official child of this Joint. getCenter public void getCenter(Point3d point3d)(Code) Gets the Point3d that defines the overall center offset postion of the Joint Parameters:   point3D - the Point3D to put the center into for this Joint See Also:   com.db.hanim.Joint.setCenter(Point3d) getChildren public HashSet getChildren()(Code) Retrieves all children of this Joint the hashtable of all direct children of this Joint getCorrespondingSegment public Segment getCorrespondingSegment()(Code) Builds up a new Segment using the official Segment that corresponds to that Joint. Does not assign the Segment to this Joint. the Segment that corresponds to that Joint. getCorrespondingSegmentIdentifier public int getCorrespondingSegmentIdentifier()(Code) Gets the static identifier of the Segment that corresponds to this Joint. If no Segmemt is found matching the argument (the Joint isnot an official Joint) then the identifier Segment.NonStandard is returned the static identifier for the Segment that corresponds. getCorrespondingSegmentName public String getCorrespondingSegmentName()(Code) Gets the official Segment name of the Segment that corresponds to this Joint. If no Segmemt is found matching the argument (the Joint is not an official Joint) then an empty String is returned the name for the Segment that corresponds. getDefaultCenter public void getDefaultCenter(Point3d point3d)(Code) Gets the Point3d that defines the overall center offset default value proposed by H-Anim for this Joint. Parameters:   point3D - the Point3D to put the center into for this Joint See Also:   com.db.hanim.Joint.useDefaultCenter getJointIdentifierName public static String getJointIdentifierName(int value)(Code) Gets the official Joint name for the static identifier passed as argument. If no Joint is found matching the argument then a new empty String is returned. Parameters:   the - static identifier for the Joint named jointName String the name of the Joint to get the identifier from See Also:   com.db.hanim.Joint.getJointIdentifierNumber(String) getJointIdentifierNumber public static int getJointIdentifierNumber(String jointName)(Code) Gets the static identifier for the String name passed as argument. If no Joint is found matching the argument then the identifier Joint.NonStandard is returned Parameters:   String - the name of the Joint to get the identifier from the static identifier for the Joint named jointName See Also:   com.db.hanim.Joint.getJointIdentifierName(int) getLLimit public Double[] getLLimit()(Code) Gets the array of Double used as lower limit the array of Double that is the lower limit for this Joint getLimitOrientation public AxisAngle4d getLimitOrientation()(Code) Gets the AxisAngle4d used as LimitOrientation the AxisAngle4d defining the LimitOrientation for this Joint getName public String getName()(Code) Gets the Joint name that describes in a human readable manner the Joint the String name of this Joint getSegment public Segment getSegment()(Code) Retrieves the Segment corresponding to this Joint the Segment that goes with this Joint getStiffness public Double[] getStiffness()(Code) Sets the array of Double used as stiffness the array of Double that is the stiffness for this Joint getTransform public void getTransform(Transform3D transform3D)(Code) Gets the Transform3D used for this Joint. Parameters:   transform3D - the Transform3D of this Joint getULimit public Double[] getULimit()(Code) Gets the array of Double used as upper limit the array of Double that is the upper limit for this Joint removeChild public void removeChild(Joint joint)(Code) Removes a child from this Joint. Parameters:   joint - the Joint to be removed from the children list of this Joint See Also:   com.db.hanim.Joint.removeJoint(String) removeJoint public void removeJoint(Joint joint)(Code) Removes the Joint from the children list of this Joint. Identical to com.db.hanim.Joint#removeChild() Parameters:   joint - the Joint to be removed from the children list of this Joint. setCenter public void setCenter(Point3d point3d)(Code) Sets the offset center for the Joint. According to VRML97 spec, Given a 3-dimensional point P and Transform node, P is transformed into point P' in its parent's coordinate system by a series of intermediate transformations. In matrix transformation notation, where C (center), SR (scaleOrientation), T (translation), R (rotation), and S (scale) are the equivalent transformation matrices, then P' = T × C × R × SR × S × -SR × -C × P unfortunately, Java3D doesn't defines all these fields and works "only" with 4x4 matrix a 4x4 matrix allows to perform translations, rotations, and scaling and shear effects. but no offset centering that we have to simulate Parameters:   point3d - the Point3d to put the offset center into for this Joint See Also:   com.db.hanim.Joint.setTransform(Transform3D) setLLimit public void setLLimit(Double[] lLimit)(Code) Sets the array of Double used as lower limit Parameters:   the - 3 element array of Double that is the lower limit for this Joint setLimitOrientation public void setLimitOrientation(AxisAngle4d limitOrientation)(Code) Sets the AxisAngle4d used as LimitOrientation Parameters:   AxisAngle4d - the AxisAngle4d used as used as LimitOrientation for this Joint setName public void setName(String jointName)(Code) Sets the Joint name that describes in a human readable manner the Joint Parameters:   jointName - the name of this Joint setSegment public void setSegment(Segment segment)(Code) Sets the corresponding Segment of this Joint. Parameters:   segment - the Segment to be associated with this Joint exception:   IllegalArgumentException - if joint is an official Joint and segment is not the corresponding Segment. setStiffness public void setStiffness(Double[] stiffness)(Code) Sets the array of Double used as stiffness the 3 element array of Double that is the stiffness for this Joint setTransform public void setTransform(Transform3D jointTransform)(Code) Sets the Transform3D used for this Joint. Parameters:   transform3D - the Transform3D of this Joint setULimit public void setULimit(Double[] uLimit)(Code) Sets the array of Double used as upper limit the 3 element array of Double that is the upper limit for this Joint useCorrespondingSegment public void useCorrespondingSegment()(Code) Builds up a new Segment using the official Segment that corresponds to that Joint. Use getSegment() to get the resulting Segment is it can be built. useDefaultCenter public void useDefaultCenter()(Code) Sets the default center used for this Joint to the default value proposed by H-Anim. useDefaultCenterAsTranslation public void useDefaultCenterAsTranslation()(Code) Sets the translation used for this Joint to the default value OF THE CENTER proposed by H-Anim. This is to smooth up transition to Java3D. Note that only the translation component of the Transform3D that is set. Methods inherited from java.lang.Object native protected Object clone() throws CloneNotSupportedException(Code)(Java Doc) public boolean equals(Object obj)(Code)(Java Doc) protected void finalize() throws Throwable(Code)(Java Doc) final native public Class getClass()(Code)(Java Doc) native public int hashCode()(Code)(Java Doc) final native public void notify()(Code)(Java Doc) final native public void notifyAll()(Code)(Java Doc) public String toString()(Code)(Java Doc) final native public void wait(long timeout) throws InterruptedException(Code)(Java Doc) final public void wait(long timeout, int nanos) throws InterruptedException(Code)(Java Doc) final public void wait() throws InterruptedException(Code)(Java Doc)