@Override public void update() { jointState.getRotation(rotationMatrix); jointState.getTranslation(tempVector); joint.setRotation(rotationMatrix); joint.setPosition(tempVector); jointState.getTwistAngularPart(tempVector); joint.setAngularVelocityInBody(tempVector); jointState.getTwistLinearPart(tempVector); joint.setVelocity(tempVector); } }
public static JointState createJointState(String name, JointType type) { switch (type) { case OneDoFJoint: return new OneDoFState(name); case SiXDoFJoint: return new SixDoFState(name); default: throw new RuntimeException("Unknown joint type" + type); } }
public static JointState createJointState(String name, JointType type) { switch (type) { case OneDoFJoint: return new OneDoFState(name); case SiXDoFJoint: return new SixDoFState(name); default: throw new RuntimeException("Unknown joint type" + type); } }
@Override public void update() { jointState.getRotation(rotationMatrix); jointState.getTranslation(tempVector); joint.setRotation(rotationMatrix); joint.setPosition(tempVector); jointState.getTwistAngularPart(tempVector); joint.setAngularVelocityInBody(tempVector); jointState.getTwistLinearPart(tempVector); joint.setVelocity(tempVector); } }