@Override public void applyTransform(RigidBodyTransform transform) { transform.transform(this.tuple); }
@Override public void applyTransform(RigidBodyTransform transform) { transform.transform(this); }
@Override public void applyTransform(RigidBodyTransform transform) { transform.transform(this); }
public void transformForward(Vector3f vector) { ensureForwardTransformUpToDate(); forwardTransform.transform(vector); }
public void transformBackward(Point3f point) { ensureBackwardTransformUpToDate(); backwardTransform.transform(point); }
public void transformBackward(Point3f pointIn, Point3f pointOut) { ensureBackwardTransformUpToDate(); backwardTransform.transform(pointIn, pointOut); }
public void transformBackward(Point3d pointIn, Point3d pointOut) { ensureBackwardTransformUpToDate(); backwardTransform.transform(pointIn, pointOut); } }
public void transformForward(Vector4d vector) { ensureForwardTransformUpToDate(); forwardTransform.transform(vector); }
public void transformForward(Vector4d vectorIn, Vector4d vectorOut) { ensureForwardTransformUpToDate(); forwardTransform.transform(vectorIn, vectorOut); }
public void transformBackward(Vector4f vector) { ensureBackwardTransformUpToDate(); backwardTransform.transform(vector); }
public void transformBackward(Vector3f vectorIn, Vector3f vectorOut) { ensureBackwardTransformUpToDate(); backwardTransform.transform(vectorIn, vectorOut); }
@Override public void applyTransform(RigidBodyTransform transform) { orientation.applyTransform(transform); transform.transform(angularVelocity); }
public boolean contains(Point3d point) { transform.transform(point, testPoint); return shape.contains(testPoint); } }
protected final void addSimulationContactPoint(String parentJointName, RigidBodyTransform transformToParentJointFrame, double contactPointX, double contactPointY, double contactPointZ) { Point3d contactPoint = new Point3d(contactPointX, contactPointY, contactPointZ); transformToParentJointFrame.transform(contactPoint); addSimulationContactPoint(parentJointName, contactPoint); }
@Override public void applyTransform(RigidBodyTransform transform) { checkIsTransformationInPlane(transform); Vector3d xVector = new Vector3d(1.0, 0.0, 0.0); transform.transform(xVector); double deltaYaw = Math.atan2(xVector.getY(), xVector.getX()); if (Double.isNaN(deltaYaw) || Double.isInfinite(deltaYaw)) deltaYaw = 0.0; this.yaw = AngleTools.trimAngleMinusPiToPi(this.yaw + deltaYaw); }
@Override public void applyTransform(RigidBodyTransform transform) { if (tempQuaternionForTransform == null) tempQuaternionForTransform = new Quat4d(); transform.getRotation(tempQuaternionForTransform); orientation.mul(tempQuaternionForTransform, orientation); transform.transform(angularVelocity); }
public void applyTransform(RigidBodyTransform transform, boolean requireTransformInPlane) { temporaryTransformedVector.set(this.getX(), this.getY(), 0.0); transform.transform(temporaryTransformedVector); if (requireTransformInPlane) checkIsTransformationInPlane(temporaryTransformedVector); this.set(temporaryTransformedVector.getX(), temporaryTransformedVector.getY()); }
@Override public void applyTransformAndProjectToXYPlane(RigidBodyTransform transform) { if (tempTransformedPoint == null) tempTransformedPoint = new Point3d(); for (int i = 0; i < endpoints.length; i++) { tempTransformedPoint.set(endpoints[0].getX(), endpoints[0].getY(), 0.0); transform.transform(tempTransformedPoint); endpoints[0].set(tempTransformedPoint.getX(), tempTransformedPoint.getY()); } }
private FootstepDataMessage adjustFootstepForAnkleHeight(FootstepDataMessage footstep){ FootstepDataMessage copy = new FootstepDataMessage(footstep); Point3d ankleOffset = new Point3d(0, 0, ankleHeight); RigidBodyTransform footTransform = new RigidBodyTransform(); footTransform.setRotationAndZeroTranslation(copy.getOrientation()); footTransform.transform(ankleOffset); copy.getLocation().add(ankleOffset); return copy; }