net.java.dev.joode.stepper
Class AbstractStepperFunction

java.lang.Object
  net.java.dev.joode.stepper.AbstractStepperFunction

All Implemented Interfaces:

StepperFunction

Direct Known Subclasses:

QuickStepper

public abstract class AbstractStepperFunction
extends java.lang.Object
implements StepperFunction

Field Summary

static boolean

GYROSCOPIC

Fields inherited from interface net.java.dev.joode.stepper.StepperFunction

EULER, RK4

Constructor Summary

AbstractStepperFunction()

Method Summary

protected void	addExternalForces(Body[] body, int bcount)
protected int	createRowOffsetArray(int jcount, Joint.Info1[] info, int[] ofs)
protected Matrix3[]	getInverseInertiaTensors(Body[] body, int bcount)
protected int	getJointInfo(Joint[] joint, int jcount, Joint.Info1[] info)
protected void	resetForces(Body[] body, int bcount)
void	step(World world, Body[] body, int bcount, Joint[] joint, int jcount, float stepsize)
protected abstract void	stepConstraints(int m, World world, Body[] body, int bcount, Joint[] joint, int jcount, Joint.Info1[] info, int[] ofs, Matrix3[] invI, float stepsize)
protected void	tagBodies(Body[] body, int bcount)
protected void	updateVelocity(Body[] body, int bcount, Matrix3[] invI, float stepsize)

Methods inherited from class java.lang.Object

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

Field Detail

GYROSCOPIC

public static final boolean GYROSCOPIC

See Also:

Constant Field Values

Constructor Detail

AbstractStepperFunction

public AbstractStepperFunction()

Method Detail

step

public void step(World world,
                 Body[] body,
                 int bcount,
                 Joint[] joint,
                 int jcount,
                 float stepsize)

Specified by:

step in interface StepperFunction

tagBodies

protected void tagBodies(Body[] body,
                         int bcount)

addExternalForces

protected void addExternalForces(Body[] body,
                                 int bcount)

getInverseInertiaTensors

protected Matrix3[] getInverseInertiaTensors(Body[] body,
                                             int bcount)

getJointInfo

protected int getJointInfo(Joint[] joint,
                           int jcount,
                           Joint.Info1[] info)

createRowOffsetArray

protected int createRowOffsetArray(int jcount,
                                   Joint.Info1[] info,
                                   int[] ofs)

stepConstraints

protected abstract void stepConstraints(int m,
                                        World world,
                                        Body[] body,
                                        int bcount,
                                        Joint[] joint,
                                        int jcount,
                                        Joint.Info1[] info,
                                        int[] ofs,
                                        Matrix3[] invI,
                                        float stepsize)

updateVelocity

protected void updateVelocity(Body[] body,
                              int bcount,
                              Matrix3[] invI,
                              float stepsize)

resetForces

protected void resetForces(Body[] body,
                           int bcount)