hmi.environment
Class PhysicalDemoEnvironment

java.lang.Object
  hmi.environment.GraphicsDemoEnvironment
      hmi.environment.PhysicalDemoEnvironment

All Implemented Interfaces:

GLRenderObject, KeyListener, EventListener

Direct Known Subclasses:

ElckerlycDemoEnvironment

public class PhysicalDemoEnvironment
extends GraphicsDemoEnvironment

Extends GraphicsDemoEnvironment with a physical world and physical simulation. Adds, by default, the checkerboard ground as physical representation, and a throwable ball, to the scene.

Author:

Herwin van Welbergen, Dennis Reidsma

Nested Class Summary

(package private) class	PhysicalDemoEnvironment.CollisionCheckListener
(package private) class	PhysicalDemoEnvironment.PhysicsCheckListener
(package private) class	PhysicalDemoEnvironment.PhysicsClockListener Links physics clock to the physicsTime method in which the simulation should be updated
(package private) static class	PhysicalDemoEnvironment.Sleeper Added as a hack to enforce high precision timing
(package private) class	PhysicalDemoEnvironment.ThrowBallListener position the physical sphere, and give it a speed; the graphical sphere will follow the physical one...

Nested classes/interfaces inherited from class hmi.environment.GraphicsDemoEnvironment

GraphicsDemoEnvironment.DebugCheckListener, GraphicsDemoEnvironment.MyRenderclockCallback, GraphicsDemoEnvironment.PlayListener, GraphicsDemoEnvironment.ResetListener

Field Summary

protected org.odejava.collision.JavaCollision	collision To calculate collisions and their effecting forces/impulses.
boolean	collisionEnabled Simulate collisions yes or no?
protected float[]	g Direction and strength of gravity in this environment
protected org.odejava.JointGroup	glueJointGroup all joints that are glued to the floor?
protected org.odejava.GeomPlane	groundGeom By default, the physical world contains this physical representation of the Visual ground
private org.slf4j.Logger	logger
protected OdeRigidBody	phsphere By default, the scene contains this hard coded physical sphere, which also has a graphical and Animation representation.
protected org.odejava.World	phworld The Physical World
protected SystemClock	physicsClock The clock on which steps in the physical simulation are taken
long	physicsLoopFrequency physics is calculated on about 2 times render speed: you want every render tick to surely have latest physics results in it, or at most one animatino step (half a render frame time) behind time...
protected List<Runnable>	physicsRunners
protected double	prevTime last time stamp for which physics was simulated.
boolean	runphysics If set to false, no physics are calculated
protected org.odejava.HashSpace	space Collison space?
private static float[]	sphereAmbient color settings for the default phsphere object
protected VJoint	sphereAnimationJoint The animation joint of the phsphere
private static float[]	sphereDiffuse color settings for the default phsphere object
private static float[]	sphereEmission color settings for the default phsphere object
protected VJoint	sphereRenderJoint The render vjoint of the phsphere
private static float[]	sphereSpecular color settings for the default phsphere object
protected float	timeStep Stepsize for physics simulation in seconds.

Fields inherited from class hmi.environment.GraphicsDemoEnvironment

background, color_buf_tex, debugJOGL, depth_buf_tex, dx, dy, dz, enableFSAA, fovyFar, fovyNear, frameTitle, FSAA_samples, fullscreen, glCanvas, glNavControl, glObjectControl, hiddenVisualisations, jframe, laptop, light0, light1, light2, light3, light4, lightPos0, lightPos1, lightPos2, lightPos3, lightPos4, numStencilBits, render, renderClock, renderDebugVisualisations, renderer, renderRunners, shutdownSync, toolBar, useVsync, vglSceneRenderRoot, visualisations, visualisationsUninitialized, vjNavigationNode, vjSceneRenderRoot, vjWorldAnimationRoot, vjWorldRenderRoot, wowTransformMatrix, wowvx, wowvx_header_data, wowvx_header_tex

Constructor Summary

PhysicalDemoEnvironment()

Method Summary

void	addPhysicsRunner(Runnable r) Add a runner to the physics thread.
private void	cleanUpOdeObjects()
void	close() Clean up native ODE objects.
protected void	disposeFrame() close button pressed, extend or override in subclass
void	glueFeetToFloor(PhysicalHumanoid pHuman) Connects the ankle segments to the world with a fixed, unmovable joint, to prevent the feet from slipping
void	init() Init the world physics before initializing the rest of the system; after initialization, set up the physics of the default sphere (graphics of it was already done in initGraphicScene) and of the ground
protected void	initGraphicScene() Add the graphical representation for the phsphere to the graphical scene
protected void	initGraphicSphere() do the init of the graphical sphere
protected void	initGroundPhysics() Initialise the default physical representation of the ground The default invocation from init is synchronized to the PhysicsSync
protected void	initQuickSettings() By default, override the frameTitl.
protected void	initSpherePhysics() Create the physics of the default sphere and connect it to the graphical representation of the sphere.
void	initThrowBallButton()
protected void	initUI() Make frame, make canvas, make toolbars & buttons...
protected void	initUI(boolean collisionEnabledCheck, boolean runPhysicsCheck) Add a 'throw ball' button to the default UI, and a 'collisionenabled' and 'runphysics' box
protected void	initWorldPhysics() Initialise the world physics, collision space, etc When called from init, this is garanteed to be locked on the physics sync
protected void	physicsCopy()
protected void	physicsRun(double currentTime)
protected void	physicsTick(float delta) Called for every tick of the physics simulation, runs collisions and steps the physical world.
protected void	physicsTime(double currentTime) Called from the physicsclock.
protected void	prepareClose() prepare to close on a physicsrunner
void	prepareDispose() prepare to close on a renderrunner
void	prepareReset() prepare to reset on a physicsrunner
protected void	reset() On reset, reset some of the collision info.
void	setCollisionEnabled(boolean ce) CAn also be done through overriding the quicksettings...
void	setPhysicsEnabled(boolean rp) CAn also be done through overriding the quicksettings...
void	startClocks() in addition to super.startClocks, start physics clock...
void	toggleCollision()
void	togglePhysics()

Methods inherited from class hmi.environment.GraphicsDemoEnvironment

addDebugVisualisation, addRenderRunner, addVisualisation, convertBufferToWowVX, exit, getFrame, getGeneralImageIcon, getImageIcon, getWorldAnimationRoot, getWorldRenderRoot, glInit, glPreInit, glPreRender, glRender, hasVisualisation, initGraphics, initRender, initToolbar, initVisualGround, initVJointStructure, isVisualisationVisible, keyPressed, keyReleased, keyTyped, navigate, play, processAnimationResultForRender, removeDebugVisualisation, removeVisualisation, renderTime, setFullScreen, setupMediaButton, setupMediaButton, setupUI, setupVJointStructure, setVisualisationVisible, startAll, toggleDebugViz

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

logger

private org.slf4j.Logger logger

runphysics

public boolean runphysics

If set to false, no physics are calculated

physicsLoopFrequency

public long physicsLoopFrequency

physics is calculated on about 2 times render speed: you want every render tick to surely have latest physics results in it, or at most one animatino step (half a render frame time) behind time... Note: this is NOT the resolution with which physics is simulated; that is determined by timeStep or by the AnimationPlayerManager.getH()

collisionEnabled

public boolean collisionEnabled

Simulate collisions yes or no?

g

protected float[] g

Direction and strength of gravity in this environment

timeStep

protected float timeStep

Stepsize for physics simulation in seconds. Note that in the ElckerlycEnvironment subclass, this value is ignored.

physicsRunners

protected List<Runnable> physicsRunners

phworld

protected org.odejava.World phworld

The Physical World

space

protected org.odejava.HashSpace space

Collison space?

collision

protected org.odejava.collision.JavaCollision collision

To calculate collisions and their effecting forces/impulses.

physicsClock

protected SystemClock physicsClock

The clock on which steps in the physical simulation are taken

prevTime

protected double prevTime

last time stamp for which physics was simulated. Note that in the ElckerlycEnvironment subclass, prevTime is ignored because taking phsyics steps is delegated to the animationplayermanager

groundGeom

protected org.odejava.GeomPlane groundGeom

By default, the physical world contains this physical representation of the Visual ground

phsphere

protected OdeRigidBody phsphere

By default, the scene contains this hard coded physical sphere, which also has a graphical and Animation representation. Useful for quick testing...

sphereAnimationJoint

protected VJoint sphereAnimationJoint

The animation joint of the phsphere

sphereRenderJoint

protected VJoint sphereRenderJoint

The render vjoint of the phsphere

sphereDiffuse

private static final float[] sphereDiffuse

color settings for the default phsphere object

sphereSpecular

private static final float[] sphereSpecular

color settings for the default phsphere object

sphereAmbient

private static final float[] sphereAmbient

color settings for the default phsphere object

sphereEmission

private static final float[] sphereEmission

color settings for the default phsphere object

glueJointGroup

protected org.odejava.JointGroup glueJointGroup

all joints that are glued to the floor?

Constructor Detail

PhysicalDemoEnvironment

public PhysicalDemoEnvironment()

Method Detail

initUI

protected void initUI(boolean collisionEnabledCheck,
                      boolean runPhysicsCheck)

Add a 'throw ball' button to the default UI, and a 'collisionenabled' and 'runphysics' box

initUI

protected void initUI()

Description copied from class: GraphicsDemoEnvironment

Make frame, make canvas, make toolbars & buttons...

Overrides:

initUI in class GraphicsDemoEnvironment

initThrowBallButton

public void initThrowBallButton()

addPhysicsRunner

public void addPhysicsRunner(Runnable r)

Add a runner to the physics thread. These runners is executed as a last step in physicsTime. Here the proper synchronisation is in place to do 'stuff' with the physical simulator or physics clock (e.g. reset it). The Runnable itself may not call addPhysicsRunner or in any other way tinker with physicsRunners.

initGraphicScene

protected void initGraphicScene()

Add the graphical representation for the phsphere to the graphical scene

Overrides:

initGraphicScene in class GraphicsDemoEnvironment

initGraphicSphere

protected void initGraphicSphere()

do the init of the graphical sphere

startClocks

public void startClocks()

in addition to super.startClocks, start physics clock...

Overrides:

startClocks in class GraphicsDemoEnvironment

initQuickSettings

protected void initQuickSettings()

By default, override the frameTitl. Overide this method to change the quicksettings

Overrides:

initQuickSettings in class GraphicsDemoEnvironment

init

public void init()

Init the world physics before initializing the rest of the system; after initialization, set up the physics of the default sphere (graphics of it was already done in initGraphicScene) and of the ground

Overrides:

init in class GraphicsDemoEnvironment

initWorldPhysics

protected void initWorldPhysics()

Initialise the world physics, collision space, etc When called from init, this is garanteed to be locked on the physics sync

initSpherePhysics

protected void initSpherePhysics()

Create the physics of the default sphere and connect it to the graphical representation of the sphere. Pre: the graphical representation was already made in initGraphicScene The default invocation from init is synchronized to the PhysicsSync

initGroundPhysics

protected void initGroundPhysics()

Initialise the default physical representation of the ground The default invocation from init is synchronized to the PhysicsSync

physicsTick

protected void physicsTick(float delta)

Called for every tick of the physics simulation, runs collisions and steps the physical world. By default, called by physicsTime, which is called from the physicsClock and calls physicsTick until the simulation is again current with the clock

physicsRun

protected void physicsRun(double currentTime)

physicsCopy

protected void physicsCopy()

physicsTime

protected void physicsTime(double currentTime)

Called from the physicsclock. First physicsRun(currentTime) is called, running the actual physical simulation. By default, this calls physicsTick until the physics simulation is current with the clock again; Then copies the result of the simulation onto the animation VJoint structure, using the physicsCopy() function. Note that this method is done quite differently in the ElcerklycEnvironment where some of this task is delegated to the animationplayermanager. Both physicsRun and physicsCopy have the appropiate synchronisations set. Finally all physics runners are executed. It is strongly encouraged to not override this method but to override physicsRun and physicsCopy instead, since they have the proper synchronisation mechanisms in place already.

cleanUpOdeObjects

private void cleanUpOdeObjects()

close

public void close()

Clean up native ODE objects. Call this before ending your Java program.

Overrides:

close in class GraphicsDemoEnvironment

disposeFrame

protected void disposeFrame()
                     throws InterruptedException,
                            InvocationTargetException

Description copied from class: GraphicsDemoEnvironment

close button pressed, extend or override in subclass

Overrides:

disposeFrame in class GraphicsDemoEnvironment

Throws:

InterruptedException

InvocationTargetException

reset

protected void reset()

On reset, reset some of the collision info. No need to reset physics clock, here. Should not be called directly, use prepareReset to set up a physicsRunner for that.

Overrides:

reset in class GraphicsDemoEnvironment

toggleCollision

public void toggleCollision()

togglePhysics

public void togglePhysics()

prepareReset

public void prepareReset()

prepare to reset on a physicsrunner

Overrides:

prepareReset in class GraphicsDemoEnvironment

prepareClose

protected void prepareClose()

prepare to close on a physicsrunner

Overrides:

prepareClose in class GraphicsDemoEnvironment

prepareDispose

public void prepareDispose()

Description copied from class: GraphicsDemoEnvironment

prepare to close on a renderrunner

Overrides:

prepareDispose in class GraphicsDemoEnvironment

glueFeetToFloor

public void glueFeetToFloor(PhysicalHumanoid pHuman)

Connects the ankle segments to the world with a fixed, unmovable joint, to prevent the feet from slipping

Parameters:

pHuman - human to tighten in place like this

setCollisionEnabled

public void setCollisionEnabled(boolean ce)

CAn also be done through overriding the quicksettings...

Parameters:

ce - the collisionEnabled to set

setPhysicsEnabled

public void setPhysicsEnabled(boolean rp)

CAn also be done through overriding the quicksettings...

Parameters:

rp - the runPhysics to set