org.ode4j.cpp.internal
Class ApiCppBody

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

Direct Known Subclasses:

ApiCppWorld

public abstract class ApiCppBody
extends ApiCppJoint

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

Constructor Summary

ApiCppBody()

Method Summary

static void	dBodyAddForce(DBody b, double fx, double fy, double fz)
static void	dBodyAddForceAtPos(DBody b, double fx, double fy, double fz, double px, double py, double pz)
static void	dBodyAddForceAtRelPos(DBody b, double fx, double fy, double fz, double px, double py, double pz)
static void	dBodyAddRelForce(DBody b, double fx, double fy, double fz)
static void	dBodyAddRelForceAtPos(DBody b, double fx, double fy, double fz, double px, double py, double pz)
static void	dBodyAddRelForceAtRelPos(DBody b, double fx, double fy, double fz, double px, double py, double pz)
static void	dBodyAddRelTorque(DBody b, double fx, double fy, double fz)
static void	dBodyAddTorque(DBody b, double fx, double fy, double fz)
static void	dBodyCopyPosition(DBody body, DVector3 pos)
static void	dBodyCopyQuaternion(DBody body, DQuaternion quat)
static void	dBodyCopyRotation(DBody b, DMatrix3 R)
static DBody	dBodyCreate(DWorld w)
static void	dBodyDestroy(DBody b)
static void	dBodyDisable(DBody body)
static void	dBodyEnable(DBody body)
static double	dBodyGetAngularDamping(DBody b)
static double	dBodyGetAngularDampingThreshold(DBody b)
static DVector3C	dBodyGetAngularVel(DBody b)
static double	dBodyGetAutoDisableAngularThreshold(DBody b)
static int	dBodyGetAutoDisableAverageSamplesCount(DBody b)
static boolean	dBodyGetAutoDisableFlag(DBody b)
static double	dBodyGetAutoDisableLinearThreshold(DBody b)
static int	dBodyGetAutoDisableSteps(DBody b)
static double	dBodyGetAutoDisableTime(DBody b)
static java.lang.Object	dBodyGetData(DBody b)
void	dBodyGetFiniteRotationAxis(DBody body, DVector3 result)
static boolean	dBodyGetFiniteRotationMode(DBody body)
static DVector3C	dBodyGetForce(DBody b)
static boolean	dBodyGetGravityMode(DBody b)
static boolean	dBodyGetGyroscopicMode(DBody b)
DJoint	dBodyGetJoint(DBody body, int index)
static double	dBodyGetLinearDamping(DBody b)
static double	dBodyGetLinearDampingThreshold(DBody b)
static DVector3C	dBodyGetLinearVel(DBody b)
static void	dBodyGetMass(DBody b, DMass mass)
static double	dBodyGetMaxAngularSpeed(DBody b)
static int	dBodyGetNumJoints(DBody b)
static void	dBodyGetPointVel(DBody b, double px, double py, double pz, DVector3 result)
static DVector3C	dBodyGetPosition(DBody b)
static void	dBodyGetPosRelPoint(DBody b, double px, double py, double pz, DVector3 result)
static DQuaternionC	dBodyGetQuaternion(DBody b)
static void	dBodyGetRelPointPos(DBody b, double px, double py, double pz, DVector3 result)
static void	dBodyGetRelPointVel(DBody b, double px, double py, double pz, DVector3 result)
static DMatrix3C	dBodyGetRotation(DBody b)
static DVector3C	dBodyGetTorque(DBody b)
static DWorld	dBodyGetWorld(DBody b)
static boolean	dBodyIsEnabled(DBody body)
static boolean	dBodyIsKinematic(DBody body)
static void	dBodySetAngularDamping(DBody b, double scale)
static void	dBodySetAngularDampingThreshold(DBody b, double threshold)
static void	dBodySetAngularVel(DBody b, double x, double y, double z)
static void	dBodySetAutoDisableAngularThreshold(DBody b, double angular_average_threshold)
static void	dBodySetAutoDisableAverageSamplesCount(DBody b, int average_samples_count)
static void	dBodySetAutoDisableDefaults(DBody b)
static void	dBodySetAutoDisableFlag(DBody b, boolean do_auto_disable)
static void	dBodySetAutoDisableLinearThreshold(DBody b, double linear_average_threshold)
static void	dBodySetAutoDisableSteps(DBody b, int steps)
static void	dBodySetAutoDisableTime(DBody b, double time)
static void	dBodySetDamping(DBody b, double linear_scale, double angular_scale)
static void	dBodySetDampingDefaults(DBody b)
static void	dBodySetData(DBody b, java.lang.Object data)
static void	dBodySetDynamic(DBody body)
static void	dBodySetFiniteRotationAxis(DBody body, double x, double y, double z)
static void	dBodySetFiniteRotationMode(DBody b, boolean mode)
static void	dBodySetForce(DBody b, double x, double y, double z)
static void	dBodySetGravityMode(DBody b, boolean mode)
static void	dBodySetGyroscopicMode(DBody b, boolean enabled)
static void	dBodySetKinematic(DBody body)
static void	dBodySetLinearDamping(DBody b, double scale)
static void	dBodySetLinearDampingThreshold(DBody b, double threshold)
static void	dBodySetLinearVel(DBody b, double x, double y, double z)
static void	dBodySetMass(DBody b, DMassC mass)
static void	dBodySetMaxAngularSpeed(DBody b, double max_speed)
static void	dBodySetPosition(DBody b, double x, double y, double z)
static void	dBodySetQuaternion(DBody b, DQuaternion q)
static void	dBodySetRotation(DBody b, DMatrix3 R)
static void	dBodySetTorque(DBody b, double x, double y, double z)
static void	dBodyVectorFromWorld(DBody b, double px, double py, double pz, DVector3 result)
static void	dBodyVectorToWorld(DBody b, double px, double py, double pz, DVector3 result)

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

Constructor Detail

ApiCppBody

public ApiCppBody()

Method Detail

dBodyGetAutoDisableLinearThreshold

public static double dBodyGetAutoDisableLinearThreshold(DBody b)

Returns:

the threshold

Brief:

Get auto disable linear average threshold.

dBodySetAutoDisableLinearThreshold

public static void dBodySetAutoDisableLinearThreshold(DBody b,
                                                      double linear_average_threshold)

Parameters:

linear_average_threshold - the threshold

Brief:

Set auto disable linear average threshold.

dBodyGetAutoDisableAngularThreshold

public static double dBodyGetAutoDisableAngularThreshold(DBody b)

Returns:

the threshold

Brief:

Get auto disable angular average threshold.

dBodySetAutoDisableAngularThreshold

public static void dBodySetAutoDisableAngularThreshold(DBody b,
                                                       double angular_average_threshold)

Parameters:

angular_average_threshold - the threshold

Brief:

Set auto disable angular average threshold.

dBodyGetAutoDisableAverageSamplesCount

public static int dBodyGetAutoDisableAverageSamplesCount(DBody b)

Returns:

the nr of steps/size.

Brief:

Get auto disable average size (samples count).

dBodySetAutoDisableAverageSamplesCount

public static void dBodySetAutoDisableAverageSamplesCount(DBody b,
                                                          int average_samples_count)

Parameters:

average_samples_count - the nr of samples to review.

Brief:

Set auto disable average buffer size (average steps).

dBodyGetAutoDisableSteps

public static int dBodyGetAutoDisableSteps(DBody b)

Returns:

the nr of steps

Brief:

Get auto steps a body must be thought of as idle to disable

dBodySetAutoDisableSteps

public static void dBodySetAutoDisableSteps(DBody b,
                                            int steps)

Parameters:

steps - the nr of steps.

Brief:

Set auto disable steps.

dBodyGetAutoDisableTime

public static double dBodyGetAutoDisableTime(DBody b)

Returns:

nr of seconds

Brief:

Get auto disable time.

dBodySetAutoDisableTime

public static void dBodySetAutoDisableTime(DBody b,
                                           double time)

Parameters:

time - nr of seconds.

Brief:

Set auto disable time.

dBodyGetAutoDisableFlag

public static boolean dBodyGetAutoDisableFlag(DBody b)

Returns:

0 or 1

Brief:

Get auto disable flag.

dBodySetAutoDisableFlag

public static void dBodySetAutoDisableFlag(DBody b,
                                           boolean do_auto_disable)

Parameters:

do_auto_disable - 0 or 1

Brief:

Set auto disable flag.

dBodySetAutoDisableDefaults

public static void dBodySetAutoDisableDefaults(DBody b)

Brief:

Set auto disable defaults.

Remark:

Set the values for the body to those set as default for the world.

dBodyGetWorld

public static DWorld dBodyGetWorld(DBody b)

Brief:

Retrieves the world attached to te given body.

Remark:

dBodyCreate

public static DBody dBodyCreate(DWorld w)

Brief:

Create a body in given world.

Remark:

Default mass parameters are at position (0,0,0).

dBodyDestroy

public static void dBodyDestroy(DBody b)

Brief:

Destroy a body.

Remark:

All joints that are attached to this body will be put into limbo: i.e. unattached and not affecting the simulation, but they will NOT be deleted.

dBodySetData

public static void dBodySetData(DBody b,
                                java.lang.Object data)

Parameters:

data - arbitraty pointer

Brief:

Set the body's user-data pointer.

dBodyGetData

public static java.lang.Object dBodyGetData(DBody b)

Returns:

a pointer to the user's data.

Brief:

Get the body's user-data pointer.

dBodySetPosition

public static void dBodySetPosition(DBody b,
                                    double x,
                                    double y,
                                    double z)

Brief:

Set position of a body.

Remark:

After setting, the outcome of the simulation is undefined if the new configuration is inconsistent with the joints/constraints that are present.

dBodySetRotation

public static void dBodySetRotation(DBody b,
                                    DMatrix3 R)

Brief:

Set the orientation of a body.

Remark:

After setting, the outcome of the simulation is undefined if the new configuration is inconsistent with the joints/constraints that are present.

dBodySetQuaternion

public static void dBodySetQuaternion(DBody b,
                                      DQuaternion q)

Brief:

Set the orientation of a body.

Remark:

After setting, the outcome of the simulation is undefined if the new configuration is inconsistent with the joints/constraints that are present.

dBodySetLinearVel

public static void dBodySetLinearVel(DBody b,
                                     double x,
                                     double y,
                                     double z)

Brief:

Set the linear velocity of a body.

dBodySetAngularVel

public static void dBodySetAngularVel(DBody b,
                                      double x,
                                      double y,
                                      double z)

Brief:

Set the angular velocity of a body.

dBodyGetPosition

public static DVector3C dBodyGetPosition(DBody b)

See Also:

dBodyCopyPosition(DBody, DVector3)

Brief:

Get the position of a body.

Remark:

When getting, the returned values are pointers to internal data structures, so the vectors are valid until any changes are made to the rigid body system structure.

dBodyCopyPosition

public static void dBodyCopyPosition(DBody body,
                                     DVector3 pos)

Parameters:

body - the body to query

pos - a copy of the body position

See Also:

dBodyGetPosition(DBody)

Brief:

Copy the position of a body into a vector.

dBodyGetRotation

public static DMatrix3C dBodyGetRotation(DBody b)

Returns:

pointer to a 4x3 rotation matrix.

Brief:

Get the rotation of a body.

dBodyCopyRotation

public static void dBodyCopyRotation(DBody b,
                                     DMatrix3 R)

Parameters:

b - the body to query

R - a copy of the rotation matrix

See Also:

dBodyGetRotation(DBody)

Brief:

Copy the rotation of a body.

dBodyGetQuaternion

public static DQuaternionC dBodyGetQuaternion(DBody b)

Returns:

pointer to 4 scalars that represent the quaternion.

Brief:

Get the rotation of a body.

dBodyCopyQuaternion

public static void dBodyCopyQuaternion(DBody body,
                                       DQuaternion quat)

Parameters:

body - the body to query

quat - a copy of the orientation quaternion

See Also:

dBodyGetQuaternion(DBody)

Brief:

Copy the orientation of a body into a quaternion.

dBodyGetLinearVel

public static DVector3C dBodyGetLinearVel(DBody b)

Brief:

Get the linear velocity of a body.

dBodyGetAngularVel

public static DVector3C dBodyGetAngularVel(DBody b)

Brief:

Get the angular velocity of a body.

dBodySetMass

public static void dBodySetMass(DBody b,
                                DMassC mass)

Brief:

Set the mass of a body.

dBodyGetMass

public static void dBodyGetMass(DBody b,
                                DMass mass)

Brief:

Get the mass of a body.

dBodyAddForce

public static void dBodyAddForce(DBody b,
                                 double fx,
                                 double fy,
                                 double fz)

Brief:

Add force at centre of mass of body in absolute coordinates.

dBodyAddTorque

public static void dBodyAddTorque(DBody b,
                                  double fx,
                                  double fy,
                                  double fz)

Brief:

Add torque at centre of mass of body in absolute coordinates.

dBodyAddRelForce

public static void dBodyAddRelForce(DBody b,
                                    double fx,
                                    double fy,
                                    double fz)

Brief:

Add force at centre of mass of body in coordinates relative to body.

dBodyAddRelTorque

public static void dBodyAddRelTorque(DBody b,
                                     double fx,
                                     double fy,
                                     double fz)

Brief:

Add torque at centre of mass of body in coordinates relative to body.

dBodyAddForceAtPos

public static void dBodyAddForceAtPos(DBody b,
                                      double fx,
                                      double fy,
                                      double fz,
                                      double px,
                                      double py,
                                      double pz)

Brief:

Add force at specified point in body in global coordinates.

dBodyAddForceAtRelPos

public static void dBodyAddForceAtRelPos(DBody b,
                                         double fx,
                                         double fy,
                                         double fz,
                                         double px,
                                         double py,
                                         double pz)

Brief:

Add force at specified point in body in local coordinates.

dBodyAddRelForceAtPos

public static void dBodyAddRelForceAtPos(DBody b,
                                         double fx,
                                         double fy,
                                         double fz,
                                         double px,
                                         double py,
                                         double pz)

Brief:

Add force at specified point in body in global coordinates.

dBodyAddRelForceAtRelPos

public static void dBodyAddRelForceAtRelPos(DBody b,
                                            double fx,
                                            double fy,
                                            double fz,
                                            double px,
                                            double py,
                                            double pz)

Brief:

Add force at specified point in body in local coordinates.

dBodyGetForce

public static DVector3C dBodyGetForce(DBody b)

Returns:

points to an array of 3 reals.

Brief:

Return the current accumulated force vector.

Remark:

The returned values are pointers to internal data structures, so the vectors are only valid until any changes are made to the rigid body system.

dBodyGetTorque

public static DVector3C dBodyGetTorque(DBody b)

Returns:

points to an array of 3 reals.

Brief:

Return the current accumulated torque vector.

Remark:

The returned values are pointers to internal data structures, so the vectors are only valid until any changes are made to the rigid body system.

dBodySetForce

public static void dBodySetForce(DBody b,
                                 double x,
                                 double y,
                                 double z)

Brief:

Set the body force accumulation vector.

Remark:

This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated, in the case where the force-adding functions were called on them while they were deactivated.

dBodySetTorque

public static void dBodySetTorque(DBody b,
                                  double x,
                                  double y,
                                  double z)

Brief:

Set the body torque accumulation vector.

Remark:

This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated, in the case where the force-adding functions were called on them while they were deactivated.

dBodyGetRelPointPos

public static void dBodyGetRelPointPos(DBody b,
                                       double px,
                                       double py,
                                       double pz,
                                       DVector3 result)

Parameters:

result - will contain the result.

Brief:

Get world position of a relative point on body.

dBodyGetRelPointVel

public static void dBodyGetRelPointVel(DBody b,
                                       double px,
                                       double py,
                                       double pz,
                                       DVector3 result)

Parameters:

result - will contain the result.

Brief:

Get velocity vector in global coords of a relative point on body.

dBodyGetPointVel

public static void dBodyGetPointVel(DBody b,
                                    double px,
                                    double py,
                                    double pz,
                                    DVector3 result)

Parameters:

result - will contain the result.

Brief:

Get velocity vector in global coords of a globally specified point on a body.

dBodyGetPosRelPoint

public static void dBodyGetPosRelPoint(DBody b,
                                       double px,
                                       double py,
                                       double pz,
                                       DVector3 result)

Parameters:

result - will contain the result.

Brief:

takes a point in global coordinates and returns the point's position in body-relative coordinates.

Remark:

This is the inverse of dBodyGetRelPointPos()

dBodyVectorToWorld

public static void dBodyVectorToWorld(DBody b,
                                      double px,
                                      double py,
                                      double pz,
                                      DVector3 result)

Parameters:

result - will contain the result.

Brief:

Convert from local to world coordinates.

dBodyVectorFromWorld

public static void dBodyVectorFromWorld(DBody b,
                                        double px,
                                        double py,
                                        double pz,
                                        DVector3 result)

Parameters:

result - will contain the result.

Brief:

Convert from world to local coordinates.

dBodySetFiniteRotationMode

public static void dBodySetFiniteRotationMode(DBody b,
                                              boolean mode)

Parameters:

mode - can be 0 or 1: \li 0: An ``infinitesimal'' orientation update is used. This is fast to compute, but it can occasionally cause inaccuracies for bodies that are rotating at high speed, especially when those bodies are joined to other bodies. This is the default for every new body that is created. \li 1: A ``finite'' orientation update is used. This is more costly to compute, but will be more accurate for high speed rotations.

Brief:

controls the way a body's orientation is updated at each timestep.

Remark:

Note however that high speed rotations can result in many types of error in a simulation, and the finite mode will only fix one of those sources of error.

dBodySetFiniteRotationAxis

public static void dBodySetFiniteRotationAxis(DBody body,
                                              double x,
                                              double y,
                                              double z)

Brief:

sets the finite rotation axis for a body.

Remark:

This is axis only has meaning when the finite rotation mode is set If this axis is zero (0,0,0), full finite rotations are performed on the body. If this axis is nonzero, the body is rotated by performing a partial finite rotation along the axis direction followed by an infinitesimal rotation along an orthogonal direction., This can be useful to alleviate certain sources of error caused by quickly spinning bodies. For example, if a car wheel is rotating at high speed you can call this function with the wheel's hinge axis as the argument to try and improve its behavior.

dBodyGetFiniteRotationMode

public static boolean dBodyGetFiniteRotationMode(DBody body)

Returns:

the mode 0 (infitesimal) or 1 (finite).

Brief:

Get the way a body's orientation is updated each timestep.

dBodyGetFiniteRotationAxis

public void dBodyGetFiniteRotationAxis(DBody body,
                                       DVector3 result)

Parameters:

result - will contain the axis.

Brief:

Get the finite rotation axis.

dBodyGetNumJoints

public static int dBodyGetNumJoints(DBody b)

Returns:

nr of joints

Brief:

Get the number of joints that are attached to this body.

dBodyGetJoint

public DJoint dBodyGetJoint(DBody body,
                            int index)

Parameters:

index - valid range is 0 to n-1 where n is the value returned by dBodyGetNumJoints().

Brief:

Return a joint attached to this body, given by index.

dBodySetDynamic

public static void dBodySetDynamic(DBody body)

Parameters:

body - identification of body.

Brief:

Set rigid body to dynamic state (default).

dBodySetKinematic

public static void dBodySetKinematic(DBody body)

Parameters:

body - identification of body.

Brief:

Set rigid body to kinematic state. When in kinematic state the body isn't simulated as a dynamic body (it's "unstoppable", doesn't respond to forces), but can still affect dynamic bodies (e.g. in joints). Kinematic bodies can be controlled by position and velocity.

Note:

A kinematic body has infinite mass. If you set its mass to something else, it loses the kinematic state and behaves as a normal dynamic body.

dBodyIsKinematic

public static boolean dBodyIsKinematic(DBody body)

Returns:

1 if a body is kinematic or 0 if it is dynamic.

Brief:

Check wether a body is in kinematic state.

dBodyEnable

public static void dBodyEnable(DBody body)

Parameters:

body - identification of body.

Brief:

Manually enable a body.

dBodyDisable

public static void dBodyDisable(DBody body)

Brief:

Manually disable a body.

Remark:

A disabled body that is connected through a joint to an enabled body will be automatically re-enabled at the next simulation step.

dBodyIsEnabled

public static boolean dBodyIsEnabled(DBody body)

Returns:

1 if a body is currently enabled or 0 if it is disabled.

Brief:

Check wether a body is enabled.

dBodySetGravityMode

public static void dBodySetGravityMode(DBody b,
                                       boolean mode)

Parameters:

mode - when nonzero gravity affects this body.

Brief:

Set whether the body is influenced by the world's gravity or not.

Remark:

Newly created bodies are always influenced by the world's gravity.

dBodyGetGravityMode

public static boolean dBodyGetGravityMode(DBody b)

Returns:

nonzero means gravity affects this body.

Brief:

Get whether the body is influenced by the world's gravity or not.

dBodySetDampingDefaults

public static void dBodySetDampingDefaults(DBody b)

Brief:

Resets the damping settings to the current world's settings.

dBodyGetLinearDamping

public static double dBodyGetLinearDamping(DBody b)

Brief:

Get the body's linear damping scale.

dBodySetLinearDamping

public static void dBodySetLinearDamping(DBody b,
                                         double scale)

Parameters:

scale - The linear damping scale. Should be in the interval [0, 1].

See Also:

dBodySetDampingDefaults(DBody)

Brief:

Set the body's linear damping scale.

Remark:

From now on the body will not use the world's linear damping scale until dBodySetDampingDefaults() is called.

dBodyGetAngularDamping

public static double dBodyGetAngularDamping(DBody b)

Brief:

Get the body's angular damping scale.

Remark:

If the body's angular damping scale was not set, this function returns the world's angular damping scale.

dBodySetAngularDamping

public static void dBodySetAngularDamping(DBody b,
                                          double scale)

Parameters:

scale - The angular damping scale. Should be in the interval [0, 1].

See Also:

#dBodyResetAngularDamping()

Brief:

Set the body's angular damping scale.

Remark:

From now on the body will not use the world's angular damping scale until dBodyResetAngularDamping() is called.

dBodySetDamping

public static void dBodySetDamping(DBody b,
                                   double linear_scale,
                                   double angular_scale)

Parameters:

linear_scale - The linear damping scale. Should be in the interval [0, 1].

angular_scale - The angular damping scale. Should be in the interval [0, 1].

See Also:

dBodySetLinearDamping(DBody, double), dBodySetAngularDamping(DBody, double)

Brief:

Convenience function to set linear and angular scales at once.

dBodyGetLinearDampingThreshold

public static double dBodyGetLinearDampingThreshold(DBody b)

Brief:

Get the body's linear damping threshold.

dBodySetLinearDampingThreshold

public static void dBodySetLinearDampingThreshold(DBody b,
                                                  double threshold)

Parameters:

threshold - The linear threshold to be used. Damping is only applied if the linear speed is above this limit.

Brief:

Set the body's linear damping threshold.

dBodyGetAngularDampingThreshold

public static double dBodyGetAngularDampingThreshold(DBody b)

Brief:

Get the body's angular damping threshold.

dBodySetAngularDampingThreshold

public static void dBodySetAngularDampingThreshold(DBody b,
                                                   double threshold)

Parameters:

threshold - The angular threshold to be used. Damping is only used if the angular speed is above this limit.

Brief:

Set the body's angular damping threshold.

dBodyGetMaxAngularSpeed

public static double dBodyGetMaxAngularSpeed(DBody b)

See Also:

ApiCppWorld.dWorldGetMaxAngularSpeed(DWorld)

Brief:

Get the body's maximum angular speed.

dBodySetMaxAngularSpeed

public static void dBodySetMaxAngularSpeed(DBody b,
                                           double max_speed)

See Also:

ApiCppWorld.dWorldSetMaxAngularSpeed(DWorld, double), The default value is dInfinity, but it's a good idea to limit it at less than 500 if the body has the gyroscopic term enabled.

Brief:

Set the body's maximum angular speed.

dBodyGetGyroscopicMode

public static boolean dBodyGetGyroscopicMode(DBody b)

Returns:

nonzero if gyroscopic term computation is enabled (default), zero otherwise.

Brief:

Get the body's gyroscopic state.

dBodySetGyroscopicMode

public static void dBodySetGyroscopicMode(DBody b,
                                          boolean enabled)

Parameters:

enabled - nonzero (default) to enable gyroscopic term, 0 to disable.

Brief:

Enable/disable the body's gyroscopic term. Disabling the gyroscopic term of a body usually improves stability. It also helps turning spining objects, like cars' wheels.