public void createDebrisContactController() { for (int i = 0; i < debrisRobots.size(); i++) { ContactableSelectableBoxRobot debrisRobot = debrisRobots.get(i); GroundContactModel groundContactModel = createGroundContactModel(debrisRobot, combinedTerrainObject); debrisRobot.createAvailableContactPoints(1, 20, forceVectorScale, true); debrisRobot.setGroundContactModel(groundContactModel); } }
private ContactableSelectableBoxRobot createDebrisRobot(FramePose debrisPose) { debrisPose.checkReferenceFrameMatch(constructionWorldFrame); ContactableSelectableBoxRobot debris = ContactableSelectableBoxRobot.createContactable2By4Robot( debrisName + String.valueOf(id++), debrisDepth, debrisWidth, debrisLength, debrisMass); debris.setPosition(debrisPose.getX(), debrisPose.getY(), debrisPose.getZ()); debris.setYawPitchRoll(debrisPose.getYaw(), debrisPose.getPitch(), debrisPose.getRoll()); return debris; }