Serialized Form

Package net.java.dev.joode

Class net.java.dev.joode.Body extends WorldObject implements Serializable

serialVersionUID: -8999232346923178358L

Serialized Fields

joints

java.util.List<E> joints

attached joints

flags

int flags

body flags, defined by dxBodyFlagXXX constants

geom

Geom geom

first collision geom associated with body

geoms

java.util.List<E> geoms

all geoms associated with body

mass

Mass mass

mass parameters about POR

pos

Vector3 pos

position of POR (point of reference)

q

Quaternion q

orientation quaternion, must correspond to R

R

Matrix3 R

rotation matrix, must correspond to q

lvel

Vector3 lvel

linear velocity

avel

Vector3 avel

angular velocity

facc

Vector3 facc

linear force accumulator

tacc

Vector3 tacc

torque accumulator

finite_rot_axis

Vector3 finite_rot_axis

finite rotation axis, unit length or 0=none

posR

PosR posR

single object reference for both position and rotation of the body

Class net.java.dev.joode.Mass extends java.lang.Object implements Serializable

serialVersionUID: 5599217929907345607L

Serialized Fields

mass

float mass

total mass
NEVER USE THIS TO MODIFY THE MASS OF A BODY

invMass

float invMass

inverse of total mass
NEVER USE THIS TO MODIFY THE MASS OF A BODY

centerOfMass

Vector3 centerOfMass

center of gravity position in body frame (x,y,z)
NEVER USE THIS TO MODIFY THE MASS OF A BODY

momentOfInertia

Matrix3 momentOfInertia

3x3 inertia tensor in body frame, about POR
NEVER USE THIS TO MODIFY THE MASS OF A BODY

invI

Matrix3 invI

inverse matrix of moment of inertia
NEVER USE THIS TO MODIFY THE MASS OF A BODY

massError

net.java.dev.joode.Mass.MassError massError

Class net.java.dev.joode.World extends java.lang.Object implements Serializable

serialVersionUID: -725981870790247791L

Serialized Fields

bodies

java.util.List<E> bodies

bodies in world

joints

java.util.Vector<E> joints

joints in world

forces

java.util.List<E> forces

forces TODO: remove functionality

bodyListeners

java.util.List<E> bodyListeners

jointListeners

java.util.List<E> jointListeners

stepListeners

java.util.List<E> stepListeners

data

java.lang.Object data

a storage field for user specific data

global_erp

float global_erp

See ODE docs for an exact definition

global error reduction parameter [0..1] value of one is perfect error reduction value of 0 is no error reduction, default is .2

global_cfm

float global_cfm

See ODE docs for an exact definition global costraint force mixing parameter hardness of constraints Value of 0 denotes the hardest constraint type

contactp

ContactParameters contactp

allows configuration of general contact parameters

Class net.java.dev.joode.WorldObject extends java.lang.Object implements Serializable

Serialized Fields

world

World world

The world this object belongs to.

data

java.lang.Object data

Storage field for user data

tag

int tag

do not use, used in InternalStepIsland methods to work out the islands

Package net.java.dev.joode.collision

Class net.java.dev.joode.collision.Contact extends ContactGeom implements Serializable

serialVersionUID: -4175553861869552198L

Serialized Fields

surface

SurfaceParameters surface

fdir1

Vector3 fdir1

Class net.java.dev.joode.collision.ContactParameters extends java.lang.Object implements Serializable

serialVersionUID: -1085209889132236168L

Serialized Fields

max_vel

float max_vel

min_depth

float min_depth

Class net.java.dev.joode.collision.SurfaceParameters extends java.lang.Object implements Serializable

serialVersionUID: -5292017857810209050L

Serialized Fields

mode

int mode

mu

float mu

mu2

float mu2

bounce

float bounce

bounce_vel

float bounce_vel

soft_erp

float soft_erp

soft_cfm

float soft_cfm

motion1

float motion1

motion2

float motion2

slip1

float slip1

slip2

float slip2

Package net.java.dev.joode.force

Class net.java.dev.joode.force.Force extends WorldObject implements Serializable

Class net.java.dev.joode.force.NewtonGravity extends Force implements Serializable

serialVersionUID: 4496126049615794252L

Serialized Fields

gravity

Vector3 gravity

Class net.java.dev.joode.force.UniversalGravity extends Force implements Serializable

serialVersionUID: 715954045182080955L

Serialized Fields

body

Body body

Package net.java.dev.joode.geom

Class net.java.dev.joode.geom.Box extends Geom implements Serializable

serialVersionUID: 6728403824541923859L

Serialized Fields

side

Vector3 side

Class net.java.dev.joode.geom.Capsule extends Geom implements Serializable

serialVersionUID: -6993659653939907339L

Serialized Fields

radius

float radius

lz

float lz

Class net.java.dev.joode.geom.Circle extends Geom implements Serializable

serialVersionUID: -4429379386426443950L

Serialized Fields

radius

float radius

Class net.java.dev.joode.geom.Cylinder extends Geom implements Serializable

serialVersionUID: -3039422999025630546L

Serialized Fields

radius

float radius

lz

float lz

Class net.java.dev.joode.geom.Geom extends java.lang.Object implements Serializable

Serialized Fields

type

int type

geom type number, set by subclass constructor

gflags

int gflags

flags used by geom and space

data

java.lang.Object data

user-defined data pointer

body

Body body

dynamics body associated with this object (if any)

pos

Vector3 pos

geom's position vector

lpos

Vector3 lpos

geom's position vector at last time step

R

Matrix3 R

pointer to object's rotation matrix

parent_space

Space parent_space

the space this geom is contained in, null if none

aabb

float[] aabb

cached AABB for this space

category_bits

long category_bits

collide_bits

long collide_bits

Class net.java.dev.joode.geom.GeomTransform extends Geom implements Serializable

serialVersionUID: 2268189038023691139L

Serialized Fields

obj

Geom obj

object that is being transformed

cleanup

boolean cleanup

true to destroy obj when destroyed

infomode

boolean infomode

true to put Tx geom in dContactGeom g1

final_pos

Vector3 final_pos

cached final object position (body tx + relative tx). this is set by computeAABB(), and it is valid while the AABB is valid.

final_R

Matrix3 final_R

cached final object rotation (body tx + relative tx). this is set by computeAABB(), and it is valid while the AABB is valid.

Class net.java.dev.joode.geom.Plane extends Geom implements Serializable

serialVersionUID: -7402961699569823837L

Serialized Fields

p

Vector4 p

Class net.java.dev.joode.geom.Ray extends Geom implements Serializable

serialVersionUID: -3409642543120515638L

Serialized Fields

length

float length

Class net.java.dev.joode.geom.Rectangle extends Geom implements Serializable

serialVersionUID: -4429373986426443950L

Serialized Fields

halfwidth

float halfwidth

halfheight

float halfheight

halfDiagonal

float halfDiagonal

Class net.java.dev.joode.geom.Sphere extends Geom implements Serializable

serialVersionUID: -466977006060193666L

Serialized Fields

radius

float radius

Class net.java.dev.joode.geom.TriMesh extends Geom implements Serializable

serialVersionUID: -5511859719587743706L

Serialized Fields

triangleCount

int triangleCount

The number of triangles in the mesh.

vertices

Point3f[] vertices

The coordinates of each triangle vertex.

transformedVertices

Point3f[] transformedVertices

The transformed coordinates of each triangle vertex. These are the vertex locations that result from applying Geom.pos and Geom.R to the original vertices.

indices

int[] indices

Identifies the vertices of each triangle. Each group of three consecutive integers identifies, by index, the three vertices in the vertices array that make up one triangle.

aabbSet

AABBSet aabbSet

An AABB for each triangle.

planeCacheValidity

java.util.BitSet planeCacheValidity

Indicates which plane cache entries are valid. It is indexed by triangle number. 1 means the corresponding plane cache entry is valid; 0 means it needs to be computed.

planeCache

TriMesh.TrianglePlanes[] planeCache

Caches parameters of various planes determined by each triangle.

Package net.java.dev.joode.graphics2D

Class net.java.dev.joode.graphics2D.View2D extends javax.swing.JComponent implements Serializable

Serialized Fields

drawables

java.util.List<E> drawables

viewTransform

java.awt.geom.AffineTransform viewTransform

inverse

java.awt.geom.AffineTransform inverse

Package net.java.dev.joode.graphics2D.tool

Class net.java.dev.joode.graphics2D.tool.ViewTools extends javax.swing.JToolBar implements Serializable

serialVersionUID: -1927615953699066828L

Serialized Fields

tools

java.util.ArrayList<E> tools

view

View2D view

world

World world

space

Space space

picker

Graphics2DManager picker

activeTool

ViewTool activeTool

delagate

net.java.dev.joode.graphics2D.tool.ViewTools.EventDelagate delagate

Package net.java.dev.joode.joint

Class net.java.dev.joode.joint.Joint extends WorldObject implements Serializable

Serialized Fields

flags

int flags

body

Body[] body

feedback

JointFeedback feedback

lambda

Real lambda

worldJointId

int worldJointId

Class net.java.dev.joode.joint.JointBall extends Joint implements Serializable

serialVersionUID: 32353731655078575L

Serialized Fields

anchor1

Vector3 anchor1

anchor2

Vector3 anchor2

Class net.java.dev.joode.joint.JointConfigurable extends Joint implements Serializable

Serialized Fields

c0

Vector3 c0

ch

Vector3 ch

jerkA3

Vector3 jerkA3

jerkA4

Vector3 jerkA4

anchor1

Vector3 anchor1

body relative anchor point from the first body

anchor2

Vector3 anchor2

body relative anchor point from the second body

t2

Matrix3 t2

additional rotational transform to apply to the second body or global frame to work out frame2 this is so that the axis do not have to align with body axis

rotQ

Quaternion rotQ

rotM

Matrix3 rotM

linearConstraints

int linearConstraints

amount of linear constraints to enforce between 0-3 the x,y,z dims are enforced when n = 3. the x dim only is enforced when n = 1.

angularConstraints

int angularConstraints

amount of angular constraints to enforce between 0-3 not including 1

linearERP

Vector3 linearERP

linearCFM

Vector3 linearCFM

angularERP

Vector3 angularERP

angularCFM

Vector3 angularCFM

Class net.java.dev.joode.joint.JointContact extends Joint implements Serializable

serialVersionUID: -1873530910338731001L

Serialized Fields

the_m

int the_m

instance variables for each contact joint

contact

Contact contact

Class net.java.dev.joode.joint.JointFeedback extends java.lang.Object implements Serializable

serialVersionUID: 2534070990894156502L

Serialized Fields

f1

Vector3 f1

t1

Vector3 t1

f2

Vector3 f2

t2

Vector3 t2

Class net.java.dev.joode.joint.JointFixed extends Joint implements Serializable

serialVersionUID: -8637975879567712085L

Serialized Fields

offset

Vector3 offset

qrel

Quaternion qrel

Class net.java.dev.joode.joint.JointHinge extends Joint implements Serializable

serialVersionUID: 7895820439802237448L

Serialized Fields

anchor1

Vector3 anchor1

anchor measured relative to body 1

anchor2

Vector3 anchor2

anchor measured relative to body 2 or absolute world coords if body 2 is null

axis1

Vector3 axis1

axis2

Vector3 axis2

limot

JointLimitMotor limot

qrel

Quaternion qrel

Class net.java.dev.joode.joint.JointHinge2 extends Joint implements Serializable

serialVersionUID: -8555543271768644159L

Serialized Fields

anchor1

Vector3 anchor1

anchor2

Vector3 anchor2

axis1

Vector3 axis1

axis2

Vector3 axis2

c0

float c0

s0

float s0

v1

Vector3 v1

v2

Vector3 v2

limot1

JointLimitMotor limot1

limot2

JointLimitMotor limot2

susp_erp

float susp_erp

susp_cfm

float susp_cfm

Class net.java.dev.joode.joint.JointLimitMotor extends java.lang.Object implements Serializable

serialVersionUID: -4108019893668692267L

Serialized Fields

vel

float vel

fmax

float fmax

lostop

float lostop

histop

float histop

fudge_factor

float fudge_factor

normal_cfm

float normal_cfm

stop_erp

float stop_erp

stop_cfm

float stop_cfm

bounce

float bounce

limit

int limit

limit_err

float limit_err

Class net.java.dev.joode.joint.JointSlider extends Joint implements Serializable

serialVersionUID: -1240210914669738245L

Serialized Fields

axis1

Vector3 axis1

qrel

Quaternion qrel

offset

Vector3 offset

limot

JointLimitMotor limot

Package net.java.dev.joode.space

Class net.java.dev.joode.space.OctTreeSpace extends Space implements Serializable

Serialized Fields

dirty

java.util.ArrayList<E> dirty

clean

OctTree clean

Class net.java.dev.joode.space.SimpleSpace extends Space implements Serializable

serialVersionUID: 1026810829335704640L

Serialized Fields

clean

java.util.ArrayList<E> clean

dirty

java.util.ArrayList<E> dirty

Class net.java.dev.joode.space.Space extends Geom implements Serializable

Serialized Fields

listeners

java.util.List<E> listeners

Package net.java.dev.joode.space.octtree

Class net.java.dev.joode.space.octtree.OctTree extends OctTreeNode implements Serializable

Class net.java.dev.joode.space.octtree.OctTreeNode extends java.lang.Object implements Serializable

Serialized Fields

type

OctTreeNode.SplitType type

the split direction

right

OctTreeNode right

the child TreeNodes

left

OctTreeNode left

the child TreeNodes

aabb

float[] aabb

the boundingbox of the OctTreeNode

geoms

java.util.Set<E> geoms

contains the geoms that would fit either in both sub-trees or if not splitted up, all

splitted

boolean splitted

is this node split up?

numGeoms

int numGeoms

the number of Geoms in this node

splitPos

float splitPos

the position of the split