org.ode4j.cpp
Class OdeCpp

java.lang.Object
  org.ode4j.cpp.internal.ApiCppTimer
      org.ode4j.cpp.internal.ApiCppCollisionTrimesh
          org.ode4j.cpp.internal.ApiCppCollisionSpace
              org.ode4j.cpp.internal.ApiCppCollision
                  org.ode4j.cpp.internal.ApiCppExportDIF
                      org.ode4j.cpp.internal.ApiCppOdeInit
                          org.ode4j.cpp.internal.ApiCppMass
                              org.ode4j.cpp.internal.ApiCppOther
                                  org.ode4j.cpp.internal.ApiCppJoint
                                      org.ode4j.cpp.internal.ApiCppBody
                                          org.ode4j.cpp.internal.ApiCppWorld
                                              org.ode4j.cpp.OdeCpp

public class OdeCpp
extends ApiCppWorld

This class represents the static API of the C/C++ version of ODE. It is very close to the actual documentation.

There are two ways of using this class:
a) Using import static org.ode4j.cpp.ODE_API.* gives direct access to all methods, for example one can simply call dWorld wId = dWorldCreate(); .
b) Using extends ODE_API gives direct access to all methods, for example one can simply call dWorld wId = dWorldCreate(); .
c) Using private static final Ode ODE = Ode.getInstance(); in a class allows extending other classes instead. The above example then looks like: dWorld wId = ODE.dWorldCreate(); .

These approaches are not quit object oriented, but they are close to the existing documentation and they simplify porting code from C/C++ to Java.

For new applications it is recommended to use the object oriented API and avoid this class altogether.

Author:

Tilmann Zaeschke, based on ODE for C/C++

Nested Class Summary

Nested classes/interfaces inherited from class org.ode4j.cpp.internal.ApiCppJoint

ApiCppJoint.dJointType

Nested classes/interfaces inherited from class org.ode4j.cpp.internal.ApiCppCollision

ApiCppCollision.dAABBTestFn, ApiCppCollision.dGeomClass, ApiCppCollision.dGeomDtorFn, ApiCppCollision.dGetAABBFn, ApiCppCollision.dGetColliderFnFn

Field Summary

Fields inherited from class org.ode4j.cpp.internal.ApiCppJoint

dAMotorEuler, dAMotorUser, dParamBounce, dParamBounce1, dParamBounce2, dParamBounce3, dParamCFM, dParamCFM1, dParamCFM2, dParamCFM3, dParamERP, dParamERP1, dParamERP2, dParamERP3, dParamFMax, dParamFMax1, dParamFMax2, dParamFMax3, dParamFudgeFactor, dParamFudgeFactor1, dParamFudgeFactor2, dParamFudgeFactor3, dParamGroup, dParamGroup1, dParamGroup2, dParamGroup3, dParamHiStop, dParamHiStop1, dParamHiStop2, dParamHiStop3, dParamLoStop, dParamLoStop1, dParamLoStop2, dParamLoStop3, dParamStopCFM, dParamStopCFM1, dParamStopCFM2, dParamStopCFM3, dParamStopERP, dParamStopERP1, dParamStopERP2, dParamStopERP3, dParamSuspensionCFM, dParamSuspensionCFM1, dParamSuspensionCFM2, dParamSuspensionCFM3, dParamSuspensionERP, dParamSuspensionERP1, dParamSuspensionERP2, dParamSuspensionERP3, dParamVel, dParamVel1, dParamVel2, dParamVel3

Fields inherited from class org.ode4j.cpp.internal.ApiCppCollisionSpace

dSAP_AXES_XYZ, dSAP_AXES_XZY, dSAP_AXES_YXZ, dSAP_AXES_YZX, dSAP_AXES_ZXY, dSAP_AXES_ZYX

Method Summary

Methods inherited from class org.ode4j.cpp.internal.ApiCppWorld

dWorldCreate, dWorldDestroy, dWorldGetAngularDamping, dWorldGetAngularDampingThreshold, dWorldGetAutoDisableAngularAverageThreshold, dWorldGetAutoDisableAngularThreshold, dWorldGetAutoDisableAverageSamplesCount, dWorldGetAutoDisableFlag, dWorldGetAutoDisableLinearAverageThreshold, dWorldGetAutoDisableLinearThreshold, dWorldGetAutoDisableSteps, dWorldGetAutoDisableTime, dWorldGetCFM, dWorldGetContactMaxCorrectingVel, dWorldGetContactSurfaceLayer, dWorldGetERP, dWorldGetGravity, dWorldGetLinearDamping, dWorldGetLinearDampingThreshold, dWorldGetMaxAngularSpeed, dWorldGetQuickStepNumIterations, dWorldGetQuickStepW, dWorldImpulseToForce, dWorldQuickStep, dWorldSetAngularDamping, dWorldSetAngularDampingThreshold, dWorldSetAutoDisableAngularAverageThreshold, dWorldSetAutoDisableAngularThreshold, dWorldSetAutoDisableAverageSamplesCount, dWorldSetAutoDisableFlag, dWorldSetAutoDisableLinearAverageThreshold, dWorldSetAutoDisableLinearThreshold, dWorldSetAutoDisableSteps, dWorldSetAutoDisableTime, dWorldSetCFM, dWorldSetContactMaxCorrectingVel, dWorldSetContactSurfaceLayer, dWorldSetDamping, dWorldSetERP, dWorldSetGravity, dWorldSetLinearDamping, dWorldSetLinearDampingThreshold, dWorldSetMaxAngularSpeed, dWorldSetQuickStepNumIterations, dWorldSetQuickStepW, dWorldStep

Methods inherited from class org.ode4j.cpp.internal.ApiCppBody

dBodyAddForce, dBodyAddForceAtPos, dBodyAddForceAtRelPos, dBodyAddRelForce, dBodyAddRelForceAtPos, dBodyAddRelForceAtRelPos, dBodyAddRelTorque, dBodyAddTorque, dBodyCopyPosition, dBodyCopyQuaternion, dBodyCopyRotation, dBodyCreate, dBodyDestroy, dBodyDisable, dBodyEnable, dBodyGetAngularDamping, dBodyGetAngularDampingThreshold, dBodyGetAngularVel, dBodyGetAutoDisableAngularThreshold, dBodyGetAutoDisableAverageSamplesCount, dBodyGetAutoDisableFlag, dBodyGetAutoDisableLinearThreshold, dBodyGetAutoDisableSteps, dBodyGetAutoDisableTime, dBodyGetData, dBodyGetFiniteRotationAxis, dBodyGetFiniteRotationMode, dBodyGetForce, dBodyGetGravityMode, dBodyGetGyroscopicMode, dBodyGetJoint, dBodyGetLinearDamping, dBodyGetLinearDampingThreshold, dBodyGetLinearVel, dBodyGetMass, dBodyGetMaxAngularSpeed, dBodyGetNumJoints, dBodyGetPointVel, dBodyGetPosition, dBodyGetPosRelPoint, dBodyGetQuaternion, dBodyGetRelPointPos, dBodyGetRelPointVel, dBodyGetRotation, dBodyGetTorque, dBodyGetWorld, dBodyIsEnabled, dBodyIsKinematic, dBodySetAngularDamping, dBodySetAngularDampingThreshold, dBodySetAngularVel, dBodySetAutoDisableAngularThreshold, dBodySetAutoDisableAverageSamplesCount, dBodySetAutoDisableDefaults, dBodySetAutoDisableFlag, dBodySetAutoDisableLinearThreshold, dBodySetAutoDisableSteps, dBodySetAutoDisableTime, dBodySetDamping, dBodySetDampingDefaults, dBodySetData, dBodySetDynamic, dBodySetFiniteRotationAxis, dBodySetFiniteRotationMode, dBodySetForce, dBodySetGravityMode, dBodySetGyroscopicMode, dBodySetKinematic, dBodySetLinearDamping, dBodySetLinearDampingThreshold, dBodySetLinearVel, dBodySetMass, dBodySetMaxAngularSpeed, dBodySetPosition, dBodySetQuaternion, dBodySetRotation, dBodySetTorque, dBodyVectorFromWorld, dBodyVectorToWorld

Methods inherited from class org.ode4j.cpp.internal.ApiCppJoint

dConnectingJoint, dJointAddAMotorTorques, dJointAddHinge2Torques, dJointAddHingeTorque, dJointAddPistonForce, dJointAddPRTorque, dJointAddSliderForce, dJointAddUniversalTorques, dJointAttach, dJointCreateAMotor, dJointCreateBall, dJointCreateContact, dJointCreateFeedback, dJointCreateFixed, dJointCreateHinge, dJointCreateHinge2, dJointCreateLMotor, dJointCreateNull, dJointCreatePiston, dJointCreatePlane2D, dJointCreatePR, dJointCreatePU, dJointCreateSlider, dJointCreateUniversal, dJointDisable, dJointEnable, dJointGetAMotorAngle, dJointGetAMotorAngleRate, dJointGetAMotorAxis, dJointGetAMotorAxisRel, dJointGetAMotorMode, dJointGetAMotorNumAxes, dJointGetAMotorParam, dJointGetBallAnchor, dJointGetBallAnchor2, dJointGetBallParam, dJointGetBody, dJointGetData, dJointGetFeedback, dJointGetFixedParam, dJointGetHinge2Anchor, dJointGetHinge2Anchor2, dJointGetHinge2Angle1, dJointGetHinge2Angle1Rate, dJointGetHinge2Angle2Rate, dJointGetHinge2Axis1, dJointGetHinge2Axis2, dJointGetHinge2Param, dJointGetHingeAnchor, dJointGetHingeAnchor2, dJointGetHingeAngle, dJointGetHingeAngleRate, dJointGetHingeAxis, dJointGetHingeParam, dJointGetLMotorAxis, dJointGetLMotorNumAxes, dJointGetLMotorParam, dJointGetNumBodies, dJointGetPistonAnchor, dJointGetPistonAnchor2, dJointGetPistonAngle, dJointGetPistonAngleRate, dJointGetPistonAxis, dJointGetPistonParam, dJointGetPistonPosition, dJointGetPistonPositionRate, dJointGetPRAnchor, dJointGetPRAngle, dJointGetPRAngleRate, dJointGetPRAxis1, dJointGetPRAxis2, dJointGetPRParam, dJointGetPRPosition, dJointGetPRPositionRate, dJointGetPUAnchor, dJointGetPUAngle1, dJointGetPUAngle1Rate, dJointGetPUAngle2, dJointGetPUAngle2Rate, dJointGetPUAngles, dJointGetPUAxis1, dJointGetPUAxis2, dJointGetPUAxis3, dJointGetPUAxisP, dJointGetPUParam, dJointGetPUPosition, dJointGetPUPositionRate, dJointGetSliderAxis, dJointGetSliderParam, dJointGetSliderPosition, dJointGetSliderPositionRate, dJointGetUniversalAnchor, dJointGetUniversalAnchor2, dJointGetUniversalAngle1, dJointGetUniversalAngle1Rate, dJointGetUniversalAngle2, dJointGetUniversalAngle2Rate, dJointGetUniversalAngles, dJointGetUniversalAxis1, dJointGetUniversalAxis2, dJointGetUniversalParam, dJointGroupCreate, dJointGroupDestroy, dJointGroupEmpty, dJointIsEnabled, dJointSetAMotorAngle, dJointSetAMotorAxis, dJointSetAMotorMode, dJointSetAMotorNumAxes, dJointSetAMotorParam, dJointSetBallAnchor, dJointSetBallAnchor2, dJointSetBallParam, dJointSetData, dJointSetFeedback, dJointSetFixed, dJointSetFixedParam, dJointSetHinge2Anchor, dJointSetHinge2Axis1, dJointSetHinge2Axis2, dJointSetHinge2Param, dJointSetHingeAnchor, dJointSetHingeAxis, dJointSetHingeAxisOffset, dJointSetHingeParam, dJointSetLMotorAxis, dJointSetLMotorNumAxes, dJointSetLMotorParam, dJointSetPistonAnchor, dJointSetPistonAnchorOffset, dJointSetPistonAxis, dJointSetPistonParam, dJointSetPlane2DAngleParam, dJointSetPlane2DXParam, dJointSetPlane2DYParam, dJointSetPRAnchor, dJointSetPRAxis1, dJointSetPRAxis2, dJointSetPRParam, dJointSetPUAnchor, dJointSetPUAnchorOffset, dJointSetPUAxis1, dJointSetPUAxis2, dJointSetPUAxis3, dJointSetPUAxisP, dJointSetPUParam, dJointSetSliderAxis, dJointSetSliderAxisDelta, dJointSetSliderParam, dJointSetUniversalAnchor, dJointSetUniversalAxis1, dJointSetUniversalAxis1Offset, dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset, dJointSetUniversalParam

Methods inherited from class org.ode4j.cpp.internal.ApiCppOther

dAreConnected, dAreConnectedExcluding, dConnectingJointList

Methods inherited from class org.ode4j.cpp.internal.ApiCppMass

dMassAdd, dMassAdjust, dMassCheck, dMassCreate, dMassRotate, dMassSetBox, dMassSetBoxTotal, dMassSetCapsule, dMassSetCapsuleTotal, dMassSetCylinder, dMassSetCylinderTotal, dMassSetParameters, dMassSetSphere, dMassSetSphereTotal, dMassSetTrimesh, dMassSetTrimeshTotal, dMassSetZero, dMassTranslate

Methods inherited from class org.ode4j.cpp.internal.ApiCppOdeInit

dAllocateODEDataForThread, dCloseODE, dInitODE, dInitODE2

Methods inherited from class org.ode4j.cpp.internal.ApiCppExportDIF

dWorldExportDIF

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollision

dBoxBox, dBoxTouchesBox, dCollide, dCreateBox, dCreateCapsule, dCreateConvex, dCreateCylinder, dCreateGeomTransform, dCreateHeightfield, dCreatePlane, dCreateRay, dCreateSphere, dGeomBoxGetLengths, dGeomBoxPointDepth, dGeomBoxSetLengths, dGeomCapsuleGetParams, dGeomCapsulePointDepth, dGeomCapsuleSetParams, dGeomClearOffset, dGeomCopyOffsetPosition, dGeomCopyOffsetRotation, dGeomCopyPosition, dGeomCopyRotation, dGeomCylinderGetParams, dGeomCylinderSetParams, dGeomDestroy, dGeomDisable, dGeomEnable, dGeomGetAABB, dGeomGetBody, dGeomGetCategoryBits, dGeomGetClass, dGeomGetCollideBits, dGeomGetData, dGeomGetOffsetPosition, dGeomGetOffsetQuaternion, dGeomGetOffsetRotation, dGeomGetPosition, dGeomGetQuaternion, dGeomGetRotation, dGeomGetSpace, dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataCreate, dGeomHeightfieldDataDestroy, dGeomHeightfieldDataSetBounds, dGeomHeightfieldGetHeightfieldData, dGeomHeightfieldSetHeightfieldData, dGeomIsEnabled, dGeomIsOffset, dGeomIsSpace, dGeomPlaneGetParams, dGeomPlanePointDepth, dGeomPlaneSetParams, dGeomRayGet, dGeomRayGetClosestHit, dGeomRayGetLength, dGeomRayGetParams, dGeomRaySet, dGeomRaySetClosestHit, dGeomRaySetLength, dGeomRaySetParams, dGeomSetBody, dGeomSetCategoryBits, dGeomSetCollideBits, dGeomSetConvex, dGeomSetData, dGeomSetOffsetPosition, dGeomSetOffsetQuaternion, dGeomSetOffsetRotation, dGeomSetOffsetWorldPosition, dGeomSetOffsetWorldQuaternion, dGeomSetOffsetWorldRotation, dGeomSetPosition, dGeomSetQuaternion, dGeomSetRotation, dGeomSphereGetRadius, dGeomSpherePointDepth, dGeomSphereSetRadius, dGeomTransformGetGeom, dGeomTransformSetCleanup, dGeomTransformSetGeom, dSetColliderOverride, dSpaceCollide, dSpaceCollide2

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionSpace

dHashSpaceCreate, dHashSpaceGetLevels, dHashSpaceSetLevels, dQuadTreeSpaceCreate, dSimpleSpaceCreate, dSpaceAdd, dSpaceClean, dSpaceDestroy, dSpaceGetCleanup, dSpaceGetGeom, dSpaceGetManualCleanup, dSpaceGetNumGeoms, dSpaceGetSublevel, dSpaceQuery, dSpaceRemove, dSpaceSetCleanup, dSpaceSetManualCleanup, dSpaceSetSublevel, dSweepAndPruneSpaceCreate

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionTrimesh

dCreateTriMesh, dGeomTriMeshDataBuildSingle, dGeomTriMeshDataCreate, dGeomTriMeshDataDestroy, dGeomTriMeshSetLastTransform

Methods inherited from class org.ode4j.cpp.internal.ApiCppTimer

dTimerEnd, dTimerNow, dTimerReport, dTimerStart

Methods inherited from class java.lang.Object

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