net.java.dev.joode.geom
Class Geom

java.lang.Object
  net.java.dev.joode.geom.Geom

All Implemented Interfaces:

java.io.Serializable, SimState

Direct Known Subclasses:

Box, Capsule, Circle, Cylinder, GeomTransform, Plane, Ray, Rectangle, Space, Sphere, TriMesh

public abstract class Geom
extends java.lang.Object
implements SimState

Geom is the fundamental object in the collision system. The linked lists for spaces and bodies have been removed from this class because they work in ODE by manipulating the passes in pointer to a pointer in essence the bodyAdd and spaceAdd pass the address of their link list start points and so their internal data is altered by the operations that were in the dxGeom class. This can't really be done in Java so the functionality will be replaced in the Space and Body classes

Author:

Tom Larkworthy

See Also:

Serialized Form

Field Summary

float[]	aabb cached AABB for this space
static int	AABB_MAX_X
static int	AABB_MAX_Y
static int	AABB_MAX_Z
static int	AABB_MIN_X
static int	AABB_MIN_Y
static int	AABB_MIN_Z
Body	body dynamics body associated with this object (if any)
long	category_bits
long	collide_bits
static int	dBoxClass
static int	dCapsuleClass
static int	dCircle
static int	dConvex
static int	dCylinderClass
static int	dFirstSpaceClass
static int	dFirstUserClass
static int	dGeomNumClasses
static int	dGeomTransformClass
static int	dHashSpaceClass
static int	dLastSpaceClass
static int	dLastUserClass
static int	dMaxUserClasses
static int	dOctTreeSpaceClass
static int	dPlaneClass
static int	dQuadTreeSpaceClass
static int	dRayClass
static int	dRectangle
static int	dSimpleSpaceClass
static int	dSphereClass
static int	dTriMeshClass
static int	GEOM_AABB_BAD geom's AABB is not valid
static int	GEOM_DIRTY geom is 'dirty', i.e.
static int	GEOM_ENABLED geom is enabled
static int	GEOM_PLACEABLE geom is placeable
int	gflags flags used by geom and space
Vector3	lpos geom's position vector at last time step
Space	parent_space the space this geom is contained in, null if none
Vector3	pos geom's position vector
Matrix3	R pointer to object's rotation matrix
static int	RAY_BACKFACECULL
static int	RAY_CLOSEST_HIT
static int	RAY_FIRSTCONTACT
static Quaternion	tmpq
int	type geom type number, set by subclass constructor

Constructor Summary

protected	Geom()
	Geom(Space space, boolean isPlaceable, int type)

Method Summary

boolean	AABBTest(Geom other, float[] aabb) test whether the given AABB object intersects with this object, return 1=yes, 0=no.
Geom	clonePartialGeom(Geom partialClone, ClonedReferences util) utility method for children, sets the parents attributes of the passed in partial clone
abstract void	computeAABB() compute the AABB for this object and put it in aabb.
void	destroy() destroy a geom, removing it from any space it is in first.
float[]	getAABB() return in aabb an axis aligned bounding box that surrounds the given geom.
java.lang.Object	getUserData() get the user-defined data stored in the geom.
boolean	isEnabled()
void	recomputeAABB()
void	setBody(Body body) set the body associated with a placeable geom.
void	setPosition(float x, float y, float z)
void	setQuaternion(float x, float y, float z, float w)
void	setQuaternion(Quaternion q)
void	setRotation(Matrix3 R)
void	setUserData(java.lang.Object data) set the user-defined data stored in the geom.

Methods inherited from class java.lang.Object

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

Methods inherited from interface net.java.dev.joode.SimState

cloneState

Field Detail

GEOM_DIRTY

public static int GEOM_DIRTY

geom is 'dirty', i.e. position unknown

GEOM_AABB_BAD

public static int GEOM_AABB_BAD

geom's AABB is not valid

GEOM_PLACEABLE

public static int GEOM_PLACEABLE

geom is placeable

GEOM_ENABLED

public static int GEOM_ENABLED

geom is enabled

RAY_FIRSTCONTACT

public static int RAY_FIRSTCONTACT

RAY_BACKFACECULL

public static int RAY_BACKFACECULL

RAY_CLOSEST_HIT

public static int RAY_CLOSEST_HIT

dMaxUserClasses

public static final int dMaxUserClasses

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Constant Field Values

AABB_MIN_X

public static final int AABB_MIN_X

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Constant Field Values

AABB_MAX_X

public static final int AABB_MAX_X

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Constant Field Values

AABB_MIN_Y

public static final int AABB_MIN_Y

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Constant Field Values

AABB_MAX_Y

public static final int AABB_MAX_Y

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Constant Field Values

AABB_MIN_Z

public static final int AABB_MIN_Z

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Constant Field Values

AABB_MAX_Z

public static final int AABB_MAX_Z

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Constant Field Values

dSphereClass

public static final int dSphereClass

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Constant Field Values

dBoxClass

public static final int dBoxClass

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Constant Field Values

dCapsuleClass

public static final int dCapsuleClass

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Constant Field Values

dCylinderClass

public static final int dCylinderClass

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Constant Field Values

dPlaneClass

public static final int dPlaneClass

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Constant Field Values

dRayClass

public static final int dRayClass

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dGeomTransformClass

public static final int dGeomTransformClass

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dConvex

public static final int dConvex

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Constant Field Values

dTriMeshClass

public static final int dTriMeshClass

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dCircle

public static final int dCircle

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dRectangle

public static final int dRectangle

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Constant Field Values

dFirstSpaceClass

public static final int dFirstSpaceClass

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dSimpleSpaceClass

public static final int dSimpleSpaceClass

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dHashSpaceClass

public static final int dHashSpaceClass

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dOctTreeSpaceClass

public static final int dOctTreeSpaceClass

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dQuadTreeSpaceClass

public static final int dQuadTreeSpaceClass

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dLastSpaceClass

public static final int dLastSpaceClass

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Constant Field Values

dFirstUserClass

public static final int dFirstUserClass

See Also:

Constant Field Values

dLastUserClass

public static final int dLastUserClass

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Constant Field Values

dGeomNumClasses

public static final int dGeomNumClasses

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Constant Field Values

tmpq

public static final Quaternion tmpq

type

public int type

geom type number, set by subclass constructor

gflags

public int gflags

flags used by geom and space

body

public Body body

dynamics body associated with this object (if any)

pos

public Vector3 pos

geom's position vector

lpos

public Vector3 lpos

geom's position vector at last time step

R

public Matrix3 R

pointer to object's rotation matrix

parent_space

public Space parent_space

the space this geom is contained in, null if none

aabb

public float[] aabb

cached AABB for this space

category_bits

public long category_bits

collide_bits

public long collide_bits

Constructor Detail

Geom

protected Geom()

Geom

public Geom(Space space,
            boolean isPlaceable,
            int type)

Method Detail

destroy

public void destroy()

destroy a geom, removing it from any space it is in first. This one function destroys a geom of any type, but to create a geom you must call a creation function for that type.
When a space is destroyed, if its cleanup mode is true (the default) then all the geoms in that space are automatically destroyed as well.

getAABB

public float[] getAABB()

return in aabb an axis aligned bounding box that surrounds the given geom. The aabb array has elements (minx,maxx, miny, maxy, minz, maxz). If the geom is a space, a bounding box that surrounds all contained geoms is returned.
This function may return a pre-computed cached bounding box, if it can determine that the geom has not moved since the last time the bounding box was computed.

computeAABB

public abstract void computeAABB()

compute the AABB for this object and put it in aabb. this function always performs a fresh computation, it does not inspect the GEOM_AABB_BAD flag.

AABBTest

public boolean AABBTest(Geom other,
                        float[] aabb)

test whether the given AABB object intersects with this object, return 1=yes, 0=no. this is used as an early-exit test in the space collision functions. the default implementation returns 1, which is the correct behavior if no more detailed implementation can be provided. utility functions compute the AABB only if it is not current. this function manipulates the GEOM_AABB_BAD flag.

recomputeAABB

public void recomputeAABB()

getUserData

public java.lang.Object getUserData()

get the user-defined data stored in the geom.

setUserData

public void setUserData(java.lang.Object data)

set the user-defined data stored in the geom.

setBody

public void setBody(Body body)

set the body associated with a placeable geom. Setting a body on a geom automatically combines the position vector and rotation matrix of the body and geom, so that setting the position or orientation of one will set the value for both objects.
Setting a body to null gives the geom its own position and rotation, independent from any body. If the geom was previously connected to a body then its new independent position/rotation is set to the current position/rotation of the body.

setPosition

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

setRotation

public void setRotation(Matrix3 R)

setQuaternion

public void setQuaternion(float x,
                          float y,
                          float z,
                          float w)

setQuaternion

public void setQuaternion(Quaternion q)

isEnabled

public boolean isEnabled()

clonePartialGeom

public Geom clonePartialGeom(Geom partialClone,
                             ClonedReferences util)

utility method for children, sets the parents attributes of the passed in partial clone

Parameters:

partialClone -

util -

Returns: