org.ode4j.cpp.internal
Class ApiCppWorld

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

Direct Known Subclasses:

OdeCpp

public abstract class ApiCppWorld
extends ApiCppBody

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

ApiCppWorld()

Method Summary

static DWorld	dWorldCreate()
static void	dWorldDestroy(DWorld world)
static double	dWorldGetAngularDamping(DWorld w)
static double	dWorldGetAngularDampingThreshold(DWorld w)
static double	dWorldGetAutoDisableAngularAverageThreshold(DWorld w)
static double	dWorldGetAutoDisableAngularThreshold(DWorld w)
static int	dWorldGetAutoDisableAverageSamplesCount(DWorld w)
static boolean	dWorldGetAutoDisableFlag(DWorld w)
static double	dWorldGetAutoDisableLinearAverageThreshold(DWorld w)
static double	dWorldGetAutoDisableLinearThreshold(DWorld w)
static int	dWorldGetAutoDisableSteps(DWorld w)
static double	dWorldGetAutoDisableTime(DWorld w)
static double	dWorldGetCFM(DWorld w)
static double	dWorldGetContactMaxCorrectingVel(DWorld w)
static double	dWorldGetContactSurfaceLayer(DWorld w)
static double	dWorldGetERP(DWorld w)
static void	dWorldGetGravity(DWorld w, DVector3 gravity)
static double	dWorldGetLinearDamping(DWorld w)
static double	dWorldGetLinearDampingThreshold(DWorld w)
static double	dWorldGetMaxAngularSpeed(DWorld w)
static int	dWorldGetQuickStepNumIterations(DWorld w)
static double	dWorldGetQuickStepW(DWorld w)
static void	dWorldImpulseToForce(DWorld w, double stepsize, double ix, double iy, double iz, DVector3 force)
static void	dWorldQuickStep(DWorld w, double stepsize)
static void	dWorldSetAngularDamping(DWorld w, double scale)
static void	dWorldSetAngularDampingThreshold(DWorld w, double threshold)
static void	dWorldSetAutoDisableAngularAverageThreshold(DWorld w, double angular_average_threshold)
static void	dWorldSetAutoDisableAngularThreshold(DWorld w, double angular_threshold)
static void	dWorldSetAutoDisableAverageSamplesCount(DWorld w, int average_samples_count)
static void	dWorldSetAutoDisableFlag(DWorld w, boolean do_auto_disable)
static void	dWorldSetAutoDisableLinearAverageThreshold(DWorld w, double linear_average_threshold)
static void	dWorldSetAutoDisableLinearThreshold(DWorld w, double linear_threshold)
static void	dWorldSetAutoDisableSteps(DWorld w, int steps)
static void	dWorldSetAutoDisableTime(DWorld w, double time)
static void	dWorldSetCFM(DWorld w, double cfm)
static void	dWorldSetContactMaxCorrectingVel(DWorld w, double vel)
static void	dWorldSetContactSurfaceLayer(DWorld w, double depth)
static void	dWorldSetDamping(DWorld w, double linear_scale, double angular_scale)
static void	dWorldSetERP(DWorld w, double erp)
static void	dWorldSetGravity(DWorld w, double x, double y, double z)
static void	dWorldSetLinearDamping(DWorld w, double scale)
static void	dWorldSetLinearDampingThreshold(DWorld w, double threshold)
static void	dWorldSetMaxAngularSpeed(DWorld w, double max_speed)
static void	dWorldSetQuickStepNumIterations(DWorld w, int num)
static void	dWorldSetQuickStepW(DWorld w, double over_relaxation)
static void	dWorldStep(DWorld w, double stepsize)

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

Constructor Detail

ApiCppWorld

public ApiCppWorld()

Method Detail

dWorldCreate

public static DWorld dWorldCreate()

Returns:

an identifier

Brief:

Create a new, empty world and return its ID number.

dWorldDestroy

public static void dWorldDestroy(DWorld world)

Parameters:

world - the identifier for the world the be destroyed.

Brief:

Destroy a world and everything in it. This includes all bodies, and all joints that are not part of a joint group. Joints that are part of a joint group will be deactivated, and can be destroyed by calling, for example, dJointGroupEmpty().

dWorldSetGravity

public static void dWorldSetGravity(DWorld w,
                                    double x,
                                    double y,
                                    double z)

Brief:

Set the world's global gravity vector. The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), assuming that +z is up. The default is no gravity, i.e. (0,0,0).

dWorldGetGravity

public static void dWorldGetGravity(DWorld w,
                                    DVector3 gravity)

Brief:

Get the gravity vector for a given world.

dWorldSetERP

public static void dWorldSetERP(DWorld w,
                                double erp)

Parameters:

w - the identifier of the world.

erp - Typical values are in the range 0.1--0.8. The default is 0.2.

Brief:

Set the global ERP value, that controls how much error correction is performed in each time step.

dWorldGetERP

public static double dWorldGetERP(DWorld w)

Returns:

ERP value

Brief:

Get the error reduction parameter.

dWorldSetCFM

public static void dWorldSetCFM(DWorld w,
                                double cfm)

Parameters:

cfm - Typical values are in the range @m{10^{-9}} -- 1. The default is 10^-5 if single precision is being used, or 10^-10 if double precision is being used.

Brief:

Set the global CFM (constraint force mixing) value.

dWorldGetCFM

public static double dWorldGetCFM(DWorld w)

Returns:

CFM value

Brief:

Get the constraint force mixing value.

dWorldStep

public static void dWorldStep(DWorld w,
                              double stepsize)

Parameters:

stepsize - The number of seconds that the simulation has to advance.

Brief:

Step the world. This uses a "big matrix" method that takes time on the order of m^3 and memory on the order of m^2, where m is the total number of constraint rows. For large systems this will use a lot of memory and can be very slow, but this is currently the most accurate method.

dWorldImpulseToForce

public static void dWorldImpulseToForce(DWorld w,
                                        double stepsize,
                                        double ix,
                                        double iy,
                                        double iz,
                                        DVector3 force)

Brief:

Converts an impulse to a force.

Remark:

If you want to apply a linear or angular impulse to a rigid body, instead of a force or a torque, then you can use this function to convert the desired impulse into a force/torque vector before calling the BodyAdd... function. The current algorithm simply scales the impulse by 1/stepsize, where stepsize is the step size for the next step that will be taken. This function is given a dWorld because, in the future, the force computation may depend on integrator parameters that are set as properties of the world.

dWorldQuickStep

public static void dWorldQuickStep(DWorld w,
                                   double stepsize)

Brief:

Step the world.

Remark:

This uses an iterative method that takes time on the order of m*N and memory on the order of m, where m is the total number of constraint rows N is the number of iterations. For large systems this is a lot faster than dWorldStep(), but it is less accurate., QuickStep is great for stacks of objects especially when the auto-disable feature is used as well. However, it has poor accuracy for near-singular systems. Near-singular systems can occur when using high-friction contacts, motors, or certain articulated structures. For example, a robot with multiple legs sitting on the ground may be near-singular., There are ways to help overcome QuickStep's inaccuracy problems: \li Increase CFM. \li Reduce the number of contacts in your system (e.g. use the minimum number of contacts for the feet of a robot or creature). \li Don't use excessive friction in the contacts. \li Use contact slip if appropriate \li Avoid kinematic loops (however, kinematic loops are inevitable in legged creatures). \li Don't use excessive motor strength. \liUse force-based motors instead of velocity-based motors. Increasing the number of QuickStep iterations may help a little bit, but it is not going to help much if your system is really near singular.

dWorldSetQuickStepNumIterations

public static void dWorldSetQuickStepNumIterations(DWorld w,
                                                   int num)

Parameters:

num - The default is 20 iterations.

Brief:

Set the number of iterations that the QuickStep method performs per step.

Remark:

More iterations will give a more accurate solution, but will take longer to compute.

dWorldGetQuickStepNumIterations

public static int dWorldGetQuickStepNumIterations(DWorld w)

Returns:

nr of iterations

Brief:

Get the number of iterations that the QuickStep method performs per step.

dWorldSetQuickStepW

public static void dWorldSetQuickStepW(DWorld w,
                                       double over_relaxation)

Parameters:

over_relaxation - value to use by SOR

Brief:

Set the SOR over-relaxation parameter

dWorldGetQuickStepW

public static double dWorldGetQuickStepW(DWorld w)

Returns:

the over-relaxation setting

Brief:

Get the SOR over-relaxation parameter

dWorldSetContactMaxCorrectingVel

public static void dWorldSetContactMaxCorrectingVel(DWorld w,
                                                    double vel)

Parameters:

vel - The default value is infinity (i.e. no limit).

Brief:

Set the maximum correcting velocity that contacts are allowed to generate.

Remark:

Reducing this value can help prevent "popping" of deeply embedded objects.

dWorldGetContactMaxCorrectingVel

public static double dWorldGetContactMaxCorrectingVel(DWorld w)

Brief:

Get the maximum correcting velocity that contacts are allowed to generated.

dWorldSetContactSurfaceLayer

public static void dWorldSetContactSurfaceLayer(DWorld w,
                                                double depth)

Parameters:

depth - The default value is zero.

Brief:

Set the depth of the surface layer around all geometry objects.

Remark:

Contacts are allowed to sink into the surface layer up to the given depth before coming to rest., Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken.

dWorldGetContactSurfaceLayer

public static double dWorldGetContactSurfaceLayer(DWorld w)

Returns:

the depth

Brief:

Get the depth of the surface layer around all geometry objects.

dWorldGetAutoDisableLinearThreshold

public static double dWorldGetAutoDisableLinearThreshold(DWorld w)

Returns:

the threshold

Brief:

Get auto disable linear threshold for newly created bodies.

dWorldSetAutoDisableLinearThreshold

public static void dWorldSetAutoDisableLinearThreshold(DWorld w,
                                                       double linear_threshold)

Parameters:

linear_threshold - default is 0.01

Brief:

Set auto disable linear threshold for newly created bodies.

dWorldGetAutoDisableAngularThreshold

public static double dWorldGetAutoDisableAngularThreshold(DWorld w)

Returns:

the threshold

Brief:

Get auto disable angular threshold for newly created bodies.

dWorldSetAutoDisableAngularThreshold

public static void dWorldSetAutoDisableAngularThreshold(DWorld w,
                                                        double angular_threshold)

Parameters:

angular_threshold - default is 0.01

Brief:

Set auto disable angular threshold for newly created bodies.

dWorldGetAutoDisableLinearAverageThreshold

public static double dWorldGetAutoDisableLinearAverageThreshold(DWorld w)

Returns:

the threshold

Brief:

Get auto disable linear average threshold for newly created bodies.

dWorldSetAutoDisableLinearAverageThreshold

public static void dWorldSetAutoDisableLinearAverageThreshold(DWorld w,
                                                              double linear_average_threshold)

Parameters:

linear_average_threshold - default is 0.01

Brief:

Set auto disable linear average threshold for newly created bodies.

dWorldGetAutoDisableAngularAverageThreshold

public static double dWorldGetAutoDisableAngularAverageThreshold(DWorld w)

Returns:

the threshold

Brief:

Get auto disable angular average threshold for newly created bodies.

dWorldSetAutoDisableAngularAverageThreshold

public static void dWorldSetAutoDisableAngularAverageThreshold(DWorld w,
                                                               double angular_average_threshold)

Parameters:

angular_average_threshold - default is 0.01

Brief:

Set auto disable angular average threshold for newly created bodies.

dWorldGetAutoDisableAverageSamplesCount

public static int dWorldGetAutoDisableAverageSamplesCount(DWorld w)

Returns:

number of samples used

Brief:

Get auto disable sample count for newly created bodies.

dWorldSetAutoDisableAverageSamplesCount

public static void dWorldSetAutoDisableAverageSamplesCount(DWorld w,
                                                           int average_samples_count)

Parameters:

average_samples_count - Default is 1, meaning only instantaneous velocity is used. Set to zero to disable sampling and thus prevent any body from auto-disabling.

Brief:

Set auto disable average sample count for newly created bodies.

dWorldGetAutoDisableSteps

public static int dWorldGetAutoDisableSteps(DWorld w)

Returns:

nr of steps

Brief:

Get auto disable steps for newly created bodies.

dWorldSetAutoDisableSteps

public static void dWorldSetAutoDisableSteps(DWorld w,
                                             int steps)

Parameters:

steps - default is 10

Brief:

Set auto disable steps for newly created bodies.

dWorldGetAutoDisableTime

public static double dWorldGetAutoDisableTime(DWorld w)

Returns:

nr of seconds

Brief:

Get auto disable time for newly created bodies.

dWorldSetAutoDisableTime

public static void dWorldSetAutoDisableTime(DWorld w,
                                            double time)

Parameters:

time - default is 0 seconds

Brief:

Set auto disable time for newly created bodies.

dWorldGetAutoDisableFlag

public static boolean dWorldGetAutoDisableFlag(DWorld w)

Returns:

0 or 1

Brief:

Get auto disable flag for newly created bodies.

dWorldSetAutoDisableFlag

public static void dWorldSetAutoDisableFlag(DWorld w,
                                            boolean do_auto_disable)

Parameters:

do_auto_disable - default is false.

Brief:

Set auto disable flag for newly created bodies.

dWorldGetLinearDampingThreshold

public static double dWorldGetLinearDampingThreshold(DWorld w)

Brief:

Get the world's linear damping threshold.

dWorldSetLinearDampingThreshold

public static void dWorldSetLinearDampingThreshold(DWorld w,
                                                   double threshold)

Parameters:

threshold - The damping won't be applied if the linear speed is below this threshold. Default is 0.01.

Brief:

Set the world's linear damping threshold.

dWorldGetAngularDampingThreshold

public static double dWorldGetAngularDampingThreshold(DWorld w)

Brief:

Get the world's angular damping threshold.

dWorldSetAngularDampingThreshold

public static void dWorldSetAngularDampingThreshold(DWorld w,
                                                    double threshold)

Parameters:

threshold - The damping won't be applied if the angular speed is below this threshold. Default is 0.01.

Brief:

Set the world's angular damping threshold.

dWorldGetLinearDamping

public static double dWorldGetLinearDamping(DWorld w)

Brief:

Get the world's linear damping scale.

dWorldSetLinearDamping

public static void dWorldSetLinearDamping(DWorld w,
                                          double scale)

Parameters:

scale - The linear damping scale that is to be applied to bodies. Default is 0 (no damping). Should be in the interval [0, 1].

Brief:

Set the world's linear damping scale.

dWorldGetAngularDamping

public static double dWorldGetAngularDamping(DWorld w)

Brief:

Get the world's angular damping scale.

dWorldSetAngularDamping

public static void dWorldSetAngularDamping(DWorld w,
                                           double scale)

Parameters:

scale - The angular damping scale that is to be applied to bodies. Default is 0 (no damping). Should be in the interval [0, 1].

Brief:

Set the world's angular damping scale.

dWorldSetDamping

public static void dWorldSetDamping(DWorld w,
                                    double linear_scale,
                                    double angular_scale)

Parameters:

linear_scale - The linear damping scale that is to be applied to bodies.

angular_scale - The angular damping scale that is to be applied to bodies.

Brief:

Convenience function to set body linear and angular scales.

dWorldGetMaxAngularSpeed

public static double dWorldGetMaxAngularSpeed(DWorld w)

See Also:

ApiCppBody.dBodyGetMaxAngularSpeed(org.ode4j.ode.DBody)

Brief:

Get the default maximum angular speed.

dWorldSetMaxAngularSpeed

public static void dWorldSetMaxAngularSpeed(DWorld w,
                                            double max_speed)

See Also:

ApiCppBody.dBodySetMaxAngularSpeed(org.ode4j.ode.DBody, double)

Brief:

Set the default maximum angular speed for new bodies.