hmi.physics
Class RigidBody

java.lang.Object
  hmi.physics.RigidBody

All Implemented Interfaces:

VObject

Direct Known Subclasses:

OdeRigidBody

public abstract class RigidBody
extends Object
implements VObject

Rigid body

Author:

welberge

Nested Class Summary

Nested classes/interfaces inherited from interface hmi.animation.VObject

VObject.Predicate

Field Summary

protected ArrayList<CollisionShape>	collisionShapes
protected String	id
protected String	name
protected ArrayList<float[]>	rotationBuffer
protected String	sid
protected ArrayList<float[]>	translationBuffer

Constructor Summary

RigidBody()

Method Summary

abstract CollisionBox	addBox(float[] halfExtends) Add a collision box to the local origin
abstract CollisionBox	addBox(float[] q, float[] tr, float[] halfExtends) Adds a collision box
abstract CollisionCapsule	addCapsule(float[] q, float[] tr, float radius, float height) Adds a collision capsule, aligned with y-axis
abstract CollisionCapsule	addCapsule(float radius, float height) Adds a collision capsule, aligned with y-axis
void	addForce(float[] force)
abstract void	addForce(float x, float y, float z)
void	addForceAtPos(float[] force, float[] pos)
abstract void	addForceAtPos(float fx, float fy, float fz, float px, float py, float pz)
void	addForceAtRelPos(float[] force, float[] pos)
abstract void	addForceAtRelPos(float fx, float fy, float fz, float px, float py, float pz)
void	addRelForce(float[] force)
abstract void	addRelForce(float x, float y, float z)
void	addRelForceAtRelPos(float[] force, float[] pos)
abstract void	addRelForceAtRelPos(float fx, float fy, float fz, float px, float py, float pz)
void	addRelTorque(float[] t)
abstract void	addRelTorque(float x, float y, float z)
void	addRotationBuffer(float[] rotBuf)
abstract CollisionSphere	addSphere(float radius) Adds a collision sphere at the local origin
abstract CollisionSphere	addSphere(float[] tr, float radius) Adds a collision capsule, aligned with y-axis
void	addTorque(float[] t)
abstract void	addTorque(float x, float y, float z)
void	addTranslationBuffer(float[] transBuf)
abstract void	adjustMass(float mass) Sets the new mass
void	clear() prepares the body for removal
void	copy()
abstract Mass	createMass()
abstract void	getAngularVelocity(float[] result) Returns the angular velocity vector in the form of a float array of length three.
abstract void	getAngularVelocity(float[] vc, int vcIndex) Like getAngularVelocity(wa), but starting at the specified offset.
ArrayList<CollisionShape>	getCollisionShapes()
abstract void	getCOM(float[] com)
abstract void	getForce(float[] force)
String	getId() Returns an interned String that specifies the id.
abstract void	getInertiaTensor(float[] I)
abstract float	getMass()
String	getName() Returns an interned String that specifies the name.
abstract void	getPointRelPosition(float[] dst, float[] point) Gets the world position of a point on the body, returns the result in dst
abstract void	getPointVelocity(float[] dst, float[] point) Get the velocity of a point on the rigid body, returns the result in dst
abstract void	getRelativePointVelocity(float[] dst, float[] point) Get the velocity of a point on the rigid body, in coordinates relative to the body.
abstract void	getRotation(float[] result) Returns the rotation quaternion in a float array of length four.
abstract void	getRotation(float[] r, int index) Like getRotation(ra), but starting at the specified offset.
float[]	getRotationBuffer()
void	getScale(float[] r) Returns the scale vector in a float array of length three.
void	getScale(float[] r, int index) Like getScale(sa), but starting at the specified offset.
float[]	getScaleBuffer()
String	getSid() Returns an interned String that specifies the sid.
abstract void	getTorque(float[] torque)
abstract void	getTranslation(float[] pos) Returns the translation vector in the form of a float array of length three
float[]	getTranslationBuffer()
abstract void	getVelocity(float[] result) Returns the velocity vector in the form of a float array of length three.
abstract void	removeCollisionShape(CollisionShape s) Removes a collision shape
abstract void	rotateInertiaTensor(float[] q)
void	setAngularVelocity(float[] aVel) Sets the angular velocity vector from a float array of length three.
void	setAngularVelocity(float[] vc, int vcIndex) Like setAngularVelocity(wa), but starting at the specified offset.
abstract void	setAngularVelocity(float x, float y, float z) Sets the angular velocity vector from three floats.
void	setAxisAngle(float ax, float ay, float az, float angle) Sets the rotation quaternion derived from a rotation axis (ax, ay, az) and a rotation angle angle, specified in radians.
abstract void	setCOM(float[] com)
abstract void	setEnabled(boolean enabled) Disables or enables the body.
abstract void	setForce(float x, float y, float z)
void	setId(String id) Sets the id for this VObject.
abstract void	setInertiaTensor(float[] I)
void	setMass(Mass m)
void	setName(String n) Sets the name for this VObject.
void	setRotation(float[] rot) Sets the rotation quaternion from a float array of length four.
void	setRotation(float[] ra, int raIndex) Like setRotation(ra), but starting at the specified offset.
abstract void	setRotation(float w, float x, float y, float z) Sets the rotation quaternion from four floats.
void	setScale(float[] sa) Sets the scale vector from a float array of lebgth three.
void	setScale(float[] sa, int saIndex) Like setScale(sa), but starting at the specified offset
void	setSid(String sid) Sets the sid for this VObject.
abstract void	setTorque(float x, float y, float z)
void	setTranslation(float[] pos) Sets the translation vector from a float array of length three.
void	setTranslation(float[] ta, int taIndex) Like setTranslation(ta), but starting at the specified offset.
abstract void	setTranslation(float x, float y, float z) Sets the current translation vector from three floats.
void	setVelocity(float[] velocity) Sets the velocity vector from a float array of length three.
void	setVelocity(float[] vc, int vcIndex) Like setVelocity(va), but starting at the specified offset.
abstract void	setVelocity(float x, float y, float z) Sets the velocity vector from three floats.
abstract void	translateInertiaTensor(float[] v)

Methods inherited from class java.lang.Object

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

Methods inherited from interface hmi.animation.VObject

getTranslation, getVelocity

Field Detail

rotationBuffer

protected ArrayList<float[]> rotationBuffer

translationBuffer

protected ArrayList<float[]> translationBuffer

collisionShapes

protected ArrayList<CollisionShape> collisionShapes

id

protected String id

sid

protected String sid

name

protected String name

Constructor Detail

RigidBody

public RigidBody()

Method Detail

getName

public String getName()

Description copied from interface: VObject

Returns an interned String that specifies the name.

Specified by:

getName in interface VObject

setName

public void setName(String n)

Description copied from interface: VObject

Sets the name for this VObject.

Specified by:

setName in interface VObject

setMass

public void setMass(Mass m)

copy

public void copy()

clear

public void clear()

prepares the body for removal

addBox

public abstract CollisionBox addBox(float[] halfExtends)

Add a collision box to the local origin

Parameters:

halfExtends - half-sizes along x,y,z

Returns:

the box

addBox

public abstract CollisionBox addBox(float[] q,
                                    float[] tr,
                                    float[] halfExtends)

Adds a collision box

Parameters:

q - local rotation

tr - local translation

halfExtends - half-sizes along x,y,z

addSphere

public abstract CollisionSphere addSphere(float radius)

Adds a collision sphere at the local origin

Parameters:

radius - radius of the sphere

addSphere

public abstract CollisionSphere addSphere(float[] tr,
                                          float radius)

Adds a collision capsule, aligned with y-axis

Parameters:

tr - local translation

radius - radius of the balls and cylinder

addCapsule

public abstract CollisionCapsule addCapsule(float[] q,
                                            float[] tr,
                                            float radius,
                                            float height)

Adds a collision capsule, aligned with y-axis

Parameters:

q - local rotation

tr - local translation

radius - radius of the balls and cylinder

height - (on y-axis)

addCapsule

public abstract CollisionCapsule addCapsule(float radius,
                                            float height)

Adds a collision capsule, aligned with y-axis

Parameters:

radius - radius of the balls and cylinder

height - (on y-axis) of the cylinder

removeCollisionShape

public abstract void removeCollisionShape(CollisionShape s)

Removes a collision shape

addRotationBuffer

public void addRotationBuffer(float[] rotBuf)

Parameters:

rotBuf - the rotationBuffer to set

addTranslationBuffer

public void addTranslationBuffer(float[] transBuf)

Parameters:

transBuf - the translationBuffer to set

setEnabled

public abstract void setEnabled(boolean enabled)

Disables or enables the body. Disabled bodies are not updated with the physical simulation step and do not collide with other bodies.

getCOM

public abstract void getCOM(float[] com)

getInertiaTensor

public abstract void getInertiaTensor(float[] I)

setCOM

public abstract void setCOM(float[] com)

setInertiaTensor

public abstract void setInertiaTensor(float[] I)

rotateInertiaTensor

public abstract void rotateInertiaTensor(float[] q)

translateInertiaTensor

public abstract void translateInertiaTensor(float[] v)

getMass

public abstract float getMass()

getTorque

public abstract void getTorque(float[] torque)

getForce

public abstract void getForce(float[] force)

setTranslation

public abstract void setTranslation(float x,
                                    float y,
                                    float z)

Description copied from interface: VObject

Sets the current translation vector from three floats.

Specified by:

setTranslation in interface VObject

setTranslation

public void setTranslation(float[] pos)

Description copied from interface: VObject

Sets the translation vector from a float array of length three.

Specified by:

setTranslation in interface VObject

setTranslation

public void setTranslation(float[] ta,
                           int taIndex)

Description copied from interface: VObject

Like setTranslation(ta), but starting at the specified offset.

Specified by:

setTranslation in interface VObject

getTranslation

public abstract void getTranslation(float[] pos)

Description copied from interface: VObject

Returns the translation vector in the form of a float array of length three

Specified by:

getTranslation in interface VObject

setRotation

public abstract void setRotation(float w,
                                 float x,
                                 float y,
                                 float z)

Description copied from interface: VObject

Sets the rotation quaternion from four floats. qs is the real part, qx, qy, qz the imaginary parts.

Specified by:

setRotation in interface VObject

setRotation

public void setRotation(float[] rot)

Description copied from interface: VObject

Sets the rotation quaternion from a float array of length four. The order is (s, x, y, z), where s is the real part, x, y, z are the imaginary parts.

Specified by:

setRotation in interface VObject

setRotation

public void setRotation(float[] ra,
                        int raIndex)

Description copied from interface: VObject

Like setRotation(ra), but starting at the specified offset.

Specified by:

setRotation in interface VObject

setAxisAngle

public void setAxisAngle(float ax,
                         float ay,
                         float az,
                         float angle)

Description copied from interface: VObject

Sets the rotation quaternion derived from a rotation axis (ax, ay, az) and a rotation angle angle, specified in radians. The axis need not have length one. If all parameters are zero, the rotation is set to the identity quaternion (1,0,0,0).

Specified by:

setAxisAngle in interface VObject

getRotation

public abstract void getRotation(float[] result)

Description copied from interface: VObject

Returns the rotation quaternion in a float array of length four. The order is (s, x, y, z), where s is the scalar part, x, y, z are the imaginary parts.

Specified by:

getRotation in interface VObject

getRotation

public abstract void getRotation(float[] r,
                                 int index)

Description copied from interface: VObject

Like getRotation(ra), but starting at the specified offset.

Specified by:

getRotation in interface VObject

setAngularVelocity

public abstract void setAngularVelocity(float x,
                                        float y,
                                        float z)

Description copied from interface: VObject

Sets the angular velocity vector from three floats.

Specified by:

setAngularVelocity in interface VObject

setAngularVelocity

public void setAngularVelocity(float[] aVel)

Description copied from interface: VObject

Sets the angular velocity vector from a float array of length three.

Specified by:

setAngularVelocity in interface VObject

setAngularVelocity

public void setAngularVelocity(float[] vc,
                               int vcIndex)

Description copied from interface: VObject

Like setAngularVelocity(wa), but starting at the specified offset.

Specified by:

setAngularVelocity in interface VObject

getAngularVelocity

public abstract void getAngularVelocity(float[] result)

Description copied from interface: VObject

Returns the angular velocity vector in the form of a float array of length three.

Specified by:

getAngularVelocity in interface VObject

getAngularVelocity

public abstract void getAngularVelocity(float[] vc,
                                        int vcIndex)

Description copied from interface: VObject

Like getAngularVelocity(wa), but starting at the specified offset.

Specified by:

getAngularVelocity in interface VObject

setVelocity

public abstract void setVelocity(float x,
                                 float y,
                                 float z)

Description copied from interface: VObject

Sets the velocity vector from three floats.

Specified by:

setVelocity in interface VObject

setVelocity

public void setVelocity(float[] velocity)

Description copied from interface: VObject

Sets the velocity vector from a float array of length three.

Specified by:

setVelocity in interface VObject

setVelocity

public void setVelocity(float[] vc,
                        int vcIndex)

Description copied from interface: VObject

Like setVelocity(va), but starting at the specified offset.

Specified by:

setVelocity in interface VObject

getVelocity

public abstract void getVelocity(float[] result)

Description copied from interface: VObject

Returns the velocity vector in the form of a float array of length three.

Specified by:

getVelocity in interface VObject

setForce

public abstract void setForce(float x,
                              float y,
                              float z)

addForce

public abstract void addForce(float x,
                              float y,
                              float z)

addForce

public void addForce(float[] force)

addRelForce

public abstract void addRelForce(float x,
                                 float y,
                                 float z)

addRelForce

public void addRelForce(float[] force)

addForceAtPos

public abstract void addForceAtPos(float fx,
                                   float fy,
                                   float fz,
                                   float px,
                                   float py,
                                   float pz)

addForceAtPos

public void addForceAtPos(float[] force,
                          float[] pos)

addForceAtRelPos

public abstract void addForceAtRelPos(float fx,
                                      float fy,
                                      float fz,
                                      float px,
                                      float py,
                                      float pz)

addForceAtRelPos

public void addForceAtRelPos(float[] force,
                             float[] pos)

addRelForceAtRelPos

public abstract void addRelForceAtRelPos(float fx,
                                         float fy,
                                         float fz,
                                         float px,
                                         float py,
                                         float pz)

addRelForceAtRelPos

public void addRelForceAtRelPos(float[] force,
                                float[] pos)

setTorque

public abstract void setTorque(float x,
                               float y,
                               float z)

addTorque

public abstract void addTorque(float x,
                               float y,
                               float z)

addTorque

public void addTorque(float[] t)

addRelTorque

public abstract void addRelTorque(float x,
                                  float y,
                                  float z)

addRelTorque

public void addRelTorque(float[] t)

adjustMass

public abstract void adjustMass(float mass)

Sets the new mass

getRelativePointVelocity

public abstract void getRelativePointVelocity(float[] dst,
                                              float[] point)

Get the velocity of a point on the rigid body, in coordinates relative to the body. returns the result in dst

getPointVelocity

public abstract void getPointVelocity(float[] dst,
                                      float[] point)

Get the velocity of a point on the rigid body, returns the result in dst

getPointRelPosition

public abstract void getPointRelPosition(float[] dst,
                                         float[] point)

Gets the world position of a point on the body, returns the result in dst

getCollisionShapes

public ArrayList<CollisionShape> getCollisionShapes()

getId

public String getId()

Description copied from interface: VObject

Returns an interned String that specifies the id.

Specified by:

getId in interface VObject

getSid

public String getSid()

Description copied from interface: VObject

Returns an interned String that specifies the sid.

Specified by:

getSid in interface VObject

setId

public void setId(String id)

Description copied from interface: VObject

Sets the id for this VObject.

Specified by:

setId in interface VObject

setSid

public void setSid(String sid)

Description copied from interface: VObject

Sets the sid for this VObject.

Specified by:

setSid in interface VObject

setScale

public void setScale(float[] sa)

Description copied from interface: VObject

Sets the scale vector from a float array of lebgth three.

Specified by:

setScale in interface VObject

setScale

public void setScale(float[] sa,
                     int saIndex)

Description copied from interface: VObject

Like setScale(sa), but starting at the specified offset

Specified by:

setScale in interface VObject

getTranslationBuffer

public float[] getTranslationBuffer()

getScale

public void getScale(float[] r)

Description copied from interface: VObject

Returns the scale vector in a float array of length three.

Specified by:

getScale in interface VObject

getScale

public void getScale(float[] r,
                     int index)

Description copied from interface: VObject

Like getScale(sa), but starting at the specified offset.

Specified by:

getScale in interface VObject

getScaleBuffer

public float[] getScaleBuffer()

getRotationBuffer

public float[] getRotationBuffer()

createMass

public abstract Mass createMass()