us.ihmc.simulationconstructionset.graphics.joints.GraphicsJoint Maven / Gradle / Ivy

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Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset.graphics.joints;

import us.ihmc.euclid.exceptions.NotARotationMatrixException;
import us.ihmc.euclid.transform.RigidBodyTransform;
import us.ihmc.graphicsDescription.Graphics3DObject;
import us.ihmc.graphicsDescription.structure.Graphics3DNode;
import us.ihmc.graphicsDescription.structure.Graphics3DNodeType;
import us.ihmc.simulationconstructionset.util.CommonJoint;

public class GraphicsJoint extends Graphics3DNode
{
   private final CommonJoint joint;

   public GraphicsJoint(String name, CommonJoint joint, Graphics3DObject graphics3DObject, Graphics3DNodeType nodeType)
   {
      super(name, nodeType);
      this.joint = joint;

      setGraphicsObject(graphics3DObject);

   }

   public final void updateFromJoint()
   {
      try
      {
         RigidBodyTransform transformToParent = new RigidBodyTransform();
         transformToParent.set(joint.getOffsetTransform3D());
         transformToParent.multiply(joint.getJointTransform3D());
         setTransform(transformToParent);
      }
      catch (NotARotationMatrixException e)
      {
         e.printStackTrace();
      }
   }
}