hmi.physics.ode
Class OdeRigidBody

java.lang.Object
  hmi.physics.RigidBody
      hmi.physics.ode.OdeRigidBody

All Implemented Interfaces:

VObject

public class OdeRigidBody
extends RigidBody

Nested Class Summary

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

VObject.Predicate

Field Summary

private org.odejava.Body	body
private org.slf4j.Logger	logger
private OdeMass	mass
private int	shapeNr
private org.odejava.Space	space
private float[]	tempq
private float[]	tempv
private org.odejava.World	world

Fields inherited from class hmi.physics.RigidBody

collisionShapes, id, name, rotationBuffer, sid, translationBuffer

Constructor Summary

OdeRigidBody(String n, org.odejava.World w, org.odejava.Space s)
Constructor

Method Summary

OdeCollisionBox	addBox(float[] halfExtends) Add a collision box to the local origin
OdeCollisionBox	addBox(float[] q, float[] tr, float[] halfExtends) Adds a collision box
OdeCollisionCapsule	addCapsule(float[] q, float[] tr, float radius, float height) Adds a collision capsule, aligned with y-axis
OdeCollisionCapsule	addCapsule(float radius, float height) Adds a collision capsule, aligned with y-axis
private void	addCollisionGeom(org.odejava.PlaceableGeom g)
void	addForce(float x, float y, float z)
void	addForceAtPos(float fx, float fy, float fz, float px, float py, float pz)
void	addForceAtRelPos(float fx, float fy, float fz, float px, float py, float pz)
void	addRelForce(float x, float y, float z)
void	addRelForceAtRelPos(float fx, float fy, float fz, float px, float py, float pz)
void	addRelTorque(float x, float y, float z)
OdeCollisionSphere	addSphere(float radius) Adds a collision sphere at the local origin
OdeCollisionSphere	addSphere(float[] tr, float radius) Adds a collision capsule, aligned with y-axis
void	addTorque(float x, float y, float z)
void	adjustMass(float m) Sets the new mass
protected void	checkForce(float x, float y, float z)
void	clear() prepares the body for removal
Mass	createMass()
void	getAngularVelocity(float[] result) Returns the angular velocity vector in the form of a float array of length three.
void	getAngularVelocity(float[] vc, int vcIndex) Like getAngularVelocity(wa), but starting at the specified offset.
org.odejava.Body	getBody()
void	getCOM(float[] com)
void	getForce(float[] force)
void	getInertiaTensor(float[] I)
float	getMass()
void	getPointRelPosition(float[] dst, float[] point) Gets the world position of a point on the body, returns the result in dst
void	getPointVelocity(float[] dst, float[] point) Get the velocity of a point on the rigid body, returns the result in dst
void	getRelativePointVelocity(float[] dst, float[] point) Get the velocity of a point on the rigid body, in coordinates relative to the body.
void	getRotation(float[] result) Returns the rotation quaternion in a float array of length four.
void	getRotation(float[] result, int idx) Like getRotation(ra), but starting at the specified offset.
void	getTorque(float[] torque)
void	getTranslation(float[] pos) Returns the translation vector in the form of a float array of length three
void	getTranslation(float[] pos, int idx) Like getTranslation(ta), but starting at the specified offset
void	getVelocity(float[] result) Returns the velocity vector in the form of a float array of length three.
void	getVelocity(float[] result, int idx) Like getVelocity(va), but starting at the specified offset.
private void	removeCollisionGeom(org.odejava.PlaceableGeom g)
void	removeCollisionShape(CollisionShape s) Removes a collision shape
void	rotateInertiaTensor(float[] q)
void	setAngularVelocity(float x, float y, float z) Sets the angular velocity vector from three floats.
void	setCOM(float[] com)
void	setEnabled(boolean enabled) Disables or enables the body.
void	setForce(float x, float y, float z)
void	setId(String n) Sets the id for this VObject.
void	setInertiaTensor(float[] I)
void	setMass(OdeMass m)
void	setRotation(float w, float x, float y, float z) Sets the rotation quaternion from four floats.
void	setTorque(float x, float y, float z)
void	setTranslation(float x, float y, float z) Sets the current translation vector from three floats.
void	setVelocity(float x, float y, float z) Sets the velocity vector from three floats.
void	translateInertiaTensor(float[] v)

Methods inherited from class hmi.physics.RigidBody

addForce, addForceAtPos, addForceAtRelPos, addRelForce, addRelForceAtRelPos, addRelTorque, addRotationBuffer, addTorque, addTranslationBuffer, copy, getCollisionShapes, getId, getName, getRotationBuffer, getScale, getScale, getScaleBuffer, getSid, getTranslationBuffer, setAngularVelocity, setAngularVelocity, setAxisAngle, setMass, setName, setRotation, setRotation, setScale, setScale, setSid, setTranslation, setTranslation, setVelocity, setVelocity

Methods inherited from class java.lang.Object

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

Field Detail

body

private org.odejava.Body body

world

private org.odejava.World world

space

private org.odejava.Space space

mass

private OdeMass mass

shapeNr

private int shapeNr

tempv

private float[] tempv

tempq

private float[] tempq

logger

private org.slf4j.Logger logger

Constructor Detail

OdeRigidBody

public OdeRigidBody(String n,
                    org.odejava.World w,
                    org.odejava.Space s)

Constructor

Parameters:

n - new name, id, sid

w - ODE world

s - ODE space

Method Detail

getMass

public float getMass()

Specified by:

getMass in class RigidBody

setMass

public void setMass(OdeMass m)

setId

public void setId(String n)

Description copied from interface: VObject

Sets the id for this VObject.

Specified by:

setId in interface VObject

Overrides:

setId in class RigidBody

setTranslation

public 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

Specified by:

setTranslation in class RigidBody

setRotation

public 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

Specified by:

setRotation in class RigidBody

setAngularVelocity

public 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

Specified by:

setAngularVelocity in class RigidBody

setForce

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

Specified by:

setForce in class RigidBody

checkForce

protected void checkForce(float x,
                          float y,
                          float z)

addForce

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

Specified by:

addForce in class RigidBody

addForceAtRelPos

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

Specified by:

addForceAtRelPos in class RigidBody

addForceAtPos

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

Specified by:

addForceAtPos in class RigidBody

setVelocity

public 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

Specified by:

setVelocity in class RigidBody

setTorque

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

Specified by:

setTorque in class RigidBody

addTorque

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

Specified by:

addTorque in class RigidBody

getBody

public org.odejava.Body getBody()

Returns:

the body

getTranslation

public 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

Specified by:

getTranslation in class RigidBody

getTranslation

public void getTranslation(float[] pos,
                           int idx)

Description copied from interface: VObject

Like getTranslation(ta), but starting at the specified offset

addCollisionGeom

private void addCollisionGeom(org.odejava.PlaceableGeom g)

removeCollisionGeom

private void removeCollisionGeom(org.odejava.PlaceableGeom g)

getRotation

public 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

Specified by:

getRotation in class RigidBody

getRotation

public void getRotation(float[] result,
                        int idx)

Description copied from interface: VObject

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

Specified by:

getRotation in interface VObject

Specified by:

getRotation in class RigidBody

getAngularVelocity

public 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

Specified by:

getAngularVelocity in class RigidBody

getAngularVelocity

public 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

Specified by:

getAngularVelocity in class RigidBody

getVelocity

public 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

Specified by:

getVelocity in class RigidBody

getVelocity

public void getVelocity(float[] result,
                        int idx)

Description copied from interface: VObject

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

adjustMass

public void adjustMass(float m)

Description copied from class: RigidBody

Sets the new mass

Specified by:

adjustMass in class RigidBody

addBox

public OdeCollisionBox addBox(float[] halfExtends)

Description copied from class: RigidBody

Add a collision box to the local origin

Specified by:

addBox in class RigidBody

Parameters:

halfExtends - half-sizes along x,y,z

Returns:

the box

addBox

public OdeCollisionBox addBox(float[] q,
                              float[] tr,
                              float[] halfExtends)

Description copied from class: RigidBody

Adds a collision box

Specified by:

addBox in class RigidBody

Parameters:

q - local rotation

tr - local translation

halfExtends - half-sizes along x,y,z

addCapsule

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

Description copied from class: RigidBody

Adds a collision capsule, aligned with y-axis

Specified by:

addCapsule in class RigidBody

Parameters:

q - local rotation

tr - local translation

radius - radius of the balls and cylinder

height - (on y-axis)

addCapsule

public OdeCollisionCapsule addCapsule(float radius,
                                      float height)

Description copied from class: RigidBody

Adds a collision capsule, aligned with y-axis

Specified by:

addCapsule in class RigidBody

Parameters:

radius - radius of the balls and cylinder

height - (on y-axis) of the cylinder

addSphere

public OdeCollisionSphere addSphere(float[] tr,
                                    float radius)

Description copied from class: RigidBody

Adds a collision capsule, aligned with y-axis

Specified by:

addSphere in class RigidBody

Parameters:

tr - local translation

radius - radius of the balls and cylinder

addSphere

public OdeCollisionSphere addSphere(float radius)

Description copied from class: RigidBody

Adds a collision sphere at the local origin

Specified by:

addSphere in class RigidBody

Parameters:

radius - radius of the sphere

getCOM

public void getCOM(float[] com)

Specified by:

getCOM in class RigidBody

getInertiaTensor

public void getInertiaTensor(float[] I)

Specified by:

getInertiaTensor in class RigidBody

setCOM

public void setCOM(float[] com)

Specified by:

setCOM in class RigidBody

setInertiaTensor

public void setInertiaTensor(float[] I)

Specified by:

setInertiaTensor in class RigidBody

removeCollisionShape

public void removeCollisionShape(CollisionShape s)

Description copied from class: RigidBody

Removes a collision shape

Specified by:

removeCollisionShape in class RigidBody

clear

public void clear()

Description copied from class: RigidBody

prepares the body for removal

Overrides:

clear in class RigidBody

getPointRelPosition

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

Description copied from class: RigidBody

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

Specified by:

getPointRelPosition in class RigidBody

getPointVelocity

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

Description copied from class: RigidBody

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

Specified by:

getPointVelocity in class RigidBody

getRelativePointVelocity

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

Description copied from class: RigidBody

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

Specified by:

getRelativePointVelocity in class RigidBody

addRelTorque

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

Specified by:

addRelTorque in class RigidBody

getTorque

public void getTorque(float[] torque)

Specified by:

getTorque in class RigidBody

getForce

public void getForce(float[] force)

Specified by:

getForce in class RigidBody

setEnabled

public void setEnabled(boolean enabled)

Description copied from class: RigidBody

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

Specified by:

setEnabled in class RigidBody

addRelForce

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

Specified by:

addRelForce in class RigidBody

addRelForceAtRelPos

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

Specified by:

addRelForceAtRelPos in class RigidBody

rotateInertiaTensor

public void rotateInertiaTensor(float[] q)

Specified by:

rotateInertiaTensor in class RigidBody

translateInertiaTensor

public void translateInertiaTensor(float[] v)

Specified by:

translateInertiaTensor in class RigidBody

createMass

public Mass createMass()

Specified by:

createMass in class RigidBody