net.java.dev.joode
Class Body

java.lang.Object
  net.java.dev.joode.WorldObject
      net.java.dev.joode.Body

All Implemented Interfaces:

java.io.Serializable, SimState

public class Body
extends WorldObject

Bodies are the most important objects that reside within a World container. Bodies have position, rotation, velocity, angular velocity and mass, and are influenced by forces.

Bodies DO NOT inherently have a shape. A shape is formed by adding geometries to a body. However, geometry and collisions are handled by space containers. World and Space concepts are independant. You can use bodies without spaces or geometries.

Author:

Tom Larkworthy, Harald Dietrich

See Also:

World, Serialized Form

Field Summary

Vector3	avel angular velocity
static int	dxBodyAutoDisable denotes that the body should be auto-disabled
static int	dxBodyDisabled denotes that the body is disabled
static int	dxBodyFlagFiniteRotation denotes that the body should use finite rotations, denotes the meaning of angular velocity if using finite rotations, the length of the angular velocity vector denotes the theta velocity otherwise
static int	dxBodyFlagFiniteRotationAxis denotes that the body should us finite rotation around a single axis
static int	dxBodyGravity denotes that the body should be affected by gravity
static int	dxBodyNoForce denotes that the body cannot be affected by external forces (implementers of Force)
Vector3	facc linear force accumulator
Vector3	finite_rot_axis finite rotation axis, unit length or 0=none
int	flags body flags, defined by dxBodyFlagXXX constants
Geom	geom first collision geom associated with body
java.util.List<Geom>	geoms all geoms associated with body
java.util.List<Joint>	joints attached joints
Vector3	lvel linear velocity
Mass	mass mass parameters about POR
Vector3	pos position of POR (point of reference)
PosR	posR single object reference for both position and rotation of the body
Quaternion	q orientation quaternion, must correspond to R
Matrix3	R rotation matrix, must correspond to q
Vector3	tacc torque accumulator

Fields inherited from class net.java.dev.joode.WorldObject

data, tag, world

Constructor Summary

Body(World world, Mass mass)

Method Summary

void	addForce(float fx, float fy, float fz)
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	addGeom(Geom g)
void	addRelForce(float fx, float fy, float fz)
void	addRelForceAtPos(float fx, float fy, float fz, float px, float py, float pz)
void	addRelForceAtRelPos(float fx, float fy, float fz, float px, float py, float pz)
void	addRelTorque(float fx, float fy, float fz)
void	addTorque(float fx, float fy, float fz)
Body	cloneState(ClonedReferences util) deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object.
void	destroy()
void	disable()
void	enable()
void	getAngularVel(Vector3f v)
void	getAngularVelocityToTurn(Quaternion dq, float fps, Vector3 angularPassback) calculates what the angular velocity should be set to, for the body to change orientation by the amount specified by the quaternion argument over the time 1/fps
void	getForce(Vector3f v)
Geom	getGeom() Convention method, makes Joode like Odejava
void	getLinearVel(Vector3f v)
void	getTorque(Vector3f v)
boolean	isAutoDisabled()
boolean	isEnabled()
boolean	isFiniteRotations()
void	resetForces()
void	setAngularVel(float fx, float fy, float fz)
void	setAutoDisable(boolean e)
void	setEnabled(boolean e)
void	setFiniteRotations(boolean b) sets the body flag to use finite rotations This is the more accurate method for stepping the body, where rotations are not assumed to be infintesimaly small
void	setGravityMode(boolean m)
void	setLinearVel(float fx, float fy, float fz)
void	setPosition(float x, float y, float z)
void	setRotation(float a, float b, float c, float w)
void	setRotation(Matrix3 R)
void	setRotation(Quaternion q)
void	setStepDisableThreshold(int i)
void	step(float h) apply the linear and angular velocities over time interval h, thereby adjusting its position and orientation.

Methods inherited from class net.java.dev.joode.WorldObject

partialCloneWorldObject

Methods inherited from class java.lang.Object

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

Field Detail

joints

public java.util.List<Joint> joints

attached joints

flags

public int flags

body flags, defined by dxBodyFlagXXX constants

geom

public Geom geom

first collision geom associated with body

geoms

public java.util.List<Geom> geoms

all geoms associated with body

mass

public final Mass mass

mass parameters about POR

pos

public final Vector3 pos

position of POR (point of reference)

q

public final Quaternion q

orientation quaternion, must correspond to R

R

public final Matrix3 R

rotation matrix, must correspond to q

lvel

public final Vector3 lvel

linear velocity

avel

public final Vector3 avel

angular velocity

facc

public final Vector3 facc

linear force accumulator

tacc

public final Vector3 tacc

torque accumulator

finite_rot_axis

public final Vector3 finite_rot_axis

finite rotation axis, unit length or 0=none

posR

public final PosR posR

single object reference for both position and rotation of the body

dxBodyFlagFiniteRotation

public static final int dxBodyFlagFiniteRotation

denotes that the body should use finite rotations, denotes the meaning of angular velocity if using finite rotations, the length of the angular velocity vector denotes the theta velocity otherwise

See Also:

Constant Field Values

dxBodyFlagFiniteRotationAxis

public static final int dxBodyFlagFiniteRotationAxis

denotes that the body should us finite rotation around a single axis

See Also:

Constant Field Values

dxBodyDisabled

public static final int dxBodyDisabled

denotes that the body is disabled

See Also:

Constant Field Values

dxBodyNoForce

public static final int dxBodyNoForce

denotes that the body cannot be affected by external forces (implementers of Force)

See Also:

Constant Field Values

dxBodyAutoDisable

public static final int dxBodyAutoDisable

denotes that the body should be auto-disabled

See Also:

Constant Field Values

dxBodyGravity

public static final int dxBodyGravity

denotes that the body should be affected by gravity

See Also:

Constant Field Values

Constructor Detail

Body

public Body(World world,
            Mass mass)

Method Detail

destroy

public void destroy()

Specified by:

destroy in class WorldObject

setPosition

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

setRotation

public void setRotation(Matrix3 R)

setRotation

public void setRotation(float a,
                        float b,
                        float c,
                        float w)

setRotation

public void setRotation(Quaternion q)

step

public void step(float h)

apply the linear and angular velocities over time interval h, thereby adjusting its position and orientation.

addGeom

public void addGeom(Geom g)

getGeom

public Geom getGeom()

Convention method, makes Joode like Odejava

Returns:

first geom associated with body

setEnabled

public void setEnabled(boolean e)

setGravityMode

public void setGravityMode(boolean m)

setFiniteRotations

public void setFiniteRotations(boolean b)

sets the body flag to use finite rotations This is the more accurate method for stepping the body, where rotations are not assumed to be infintesimaly small

Parameters:

b -

isFiniteRotations

public boolean isFiniteRotations()

isEnabled

public boolean isEnabled()

isAutoDisabled

public boolean isAutoDisabled()

enable

public void enable()

disable

public void disable()

setAutoDisable

public void setAutoDisable(boolean e)

setStepDisableThreshold

public void setStepDisableThreshold(int i)

setLinearVel

public void setLinearVel(float fx,
                         float fy,
                         float fz)

getLinearVel

public void getLinearVel(Vector3f v)

setAngularVel

public void setAngularVel(float fx,
                          float fy,
                          float fz)

getAngularVel

public void getAngularVel(Vector3f v)

getForce

public void getForce(Vector3f v)

getTorque

public void getTorque(Vector3f v)

resetForces

public void resetForces()

addForce

public void addForce(float fx,
                     float fy,
                     float fz)

addTorque

public void addTorque(float fx,
                      float fy,
                      float fz)

addRelForce

public void addRelForce(float fx,
                        float fy,
                        float fz)

addRelTorque

public void addRelTorque(float fx,
                         float fy,
                         float fz)

addForceAtPos

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

addForceAtRelPos

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

addRelForceAtPos

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

addRelForceAtRelPos

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

cloneState

public Body cloneState(ClonedReferences util)

Description copied from interface: SimState

deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object. The util object ensures that multiple clones of the same object are not performed during a clone operation.

Parameters:

util - instanciate a new one if top level cloning

getAngularVelocityToTurn

public void getAngularVelocityToTurn(Quaternion dq,
                                     float fps,
                                     Vector3 angularPassback)

calculates what the angular velocity should be set to, for the body to change orientation by the amount specified by the quaternion argument over the time 1/fps

This method does not work accuratly when the finiteRotation flag is off

Parameters:

dq - the rotation required i.e. the bodies final orientation should be R*q

angularPassback -