org.ode4j.ode
Class DMisc

java.lang.Object
  org.ode4j.ode.OdeConstants
      org.ode4j.ode.internal.ErrorHandler
          org.ode4j.ode.internal.Common
              org.ode4j.ode.DMisc

Direct Known Subclasses:

DMatrix

public class DMisc
extends org.ode4j.ode.internal.Common

Port of misc.h from ODE API.

Author:

Tilmann Zaeschke

Nested Class Summary

Nested classes/interfaces inherited from class org.ode4j.ode.internal.Common

org.ode4j.ode.internal.Common.DMatrix4

Nested classes/interfaces inherited from class org.ode4j.ode.internal.ErrorHandler

org.ode4j.ode.internal.ErrorHandler.dMessageFunction

Field Summary

Fields inherited from class org.ode4j.ode.internal.Common

d_ERR_IASSERT, d_ERR_LCP, d_ERR_UASSERT, d_ERR_UNKNOWN, d_MEMORY_OK, d_MEMORY_OUT_OF_MEMORY, dATOMICS_ENABLED, DBL_EPSILON, dDOUBLE, dEpsilon, dNODEBUG, dSINGLE, dTLS_ENABLED, dTRIMESH_16BIT_INDICES, dTRIMESH_ENABLED, dTRIMESH_GIMPACT, dTRIMESH_OPCODE, dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER, dUSE_MALLOC_FOR_ALLOCA, M_PI, M_SQRT1_2, MAX_FLOAT

Fields inherited from class org.ode4j.ode.OdeConstants

CONTACTS_UNIMPORTANT, dAllocateMaskAll, dContactApprox0, dContactApprox1, dContactApprox1_1, dContactApprox1_2, dContactBounce, dContactFDir1, dContactMotion1, dContactMotion2, dContactMotionN, dContactMu2, dContactSlip1, dContactSlip2, dContactSoftCFM, dContactSoftERP, dInfinity

Constructor Summary

DMisc()

Method Summary

static void	dClearUpperTriangle(DMatrix3 A) Clear the upper triangle of a square matrix.
static void	dClearUpperTriangle(double[] A, int n) Clear the upper triangle of a square matrix.
static void	dMakeRandomMatrix(DMatrix3 A, double range) Make a random matrix with entries between +/- range.
static void	dMakeRandomMatrix(double[] A, int n, int m, double range) Make a random matrix with entries between +/- range.
static void	dMakeRandomVector(double[] A, int n, double range) Make a random vector with entries between +/- range.
static void	dMakeRandomVector(DQuaternion A, double range) Make a random vector with entries between +/- range.
static void	dMakeRandomVector(DVector3 A, double range) Make a random vector with entries between +/- range.
static double	dMaxDifference(DMatrix3C A, DMatrix3C B)
static double	dMaxDifference(double[] A, double[] B, int n, int m)
static double	dMaxDifference(DQuaternionC A, DQuaternionC B, int n, int m)
static double	dMaxDifference(DVector3C A, DVector3C B)
static double	dMaxDifferenceLowerTriangle(double[] A, double[] B, int n)
static java.lang.String	dPrintMatrix(DMatrix3C A) Print out a matrix.
static long	dRand()
static long	dRandGetSeed() Get and set the current random number seed.
static int	dRandInt(int n)
static double	dRandReal()
static void	dRandSetSeed(long s)
static boolean	dTestRand()

Methods inherited from class org.ode4j.ode.internal.Common

dAASSERT, dAASSERT, dAtan2, dCeil, dCopysign, dCopySign, dCos, dDEBUGMSG, dFabs, dFloor, dFMod, dIASSERT, dIsNan, dIVERIFY, dNextAfter, dPAD, dRecip, dRecipSqrt, dSin, dSqrt, dUASSERT

Methods inherited from class org.ode4j.ode.internal.ErrorHandler

dDebug, dError, dGetDebugHandler, dGetErrorHandler, dGetMessageHandler, dMessage, dSetDebugHandler, dSetErrorHandler, dSetMessageHandler

Methods inherited from class java.lang.Object

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

Constructor Detail

DMisc

public DMisc()

Method Detail

dTestRand

public static boolean dTestRand()

Returns:

'true' if the random number generator is working.

dRand

public static long dRand()

Returns:

next 32 bit random number. this uses a not-very-random linear congruential method.

dRandGetSeed

public static long dRandGetSeed()

Get and set the current random number seed.

dRandSetSeed

public static void dRandSetSeed(long s)

dRandInt

public static int dRandInt(int n)

Returns:

a random integer between 0..n-1. the distribution will get worse as n approaches 2^32.

dRandReal

public static double dRandReal()

Returns:

a random real number between 0..1

dPrintMatrix

public static java.lang.String dPrintMatrix(DMatrix3C A)

Print out a matrix.

dMakeRandomVector

public static void dMakeRandomVector(DVector3 A,
                                     double range)

Make a random vector with entries between +/- range. A has n elements.

dMakeRandomVector

public static void dMakeRandomVector(DQuaternion A,
                                     double range)

Make a random vector with entries between +/- range. A has n elements.

dMakeRandomVector

public static void dMakeRandomVector(double[] A,
                                     int n,
                                     double range)

Make a random vector with entries between +/- range. A has n elements.

dMakeRandomMatrix

public static void dMakeRandomMatrix(DMatrix3 A,
                                     double range)

Make a random matrix with entries between +/- range. A has size n*m.

dMakeRandomMatrix

public static void dMakeRandomMatrix(double[] A,
                                     int n,
                                     int m,
                                     double range)

Make a random matrix with entries between +/- range. A has size n*m.

dClearUpperTriangle

public static void dClearUpperTriangle(DMatrix3 A)

Clear the upper triangle of a square matrix.

dClearUpperTriangle

public static void dClearUpperTriangle(double[] A,
                                       int n)

Clear the upper triangle of a square matrix.

dMaxDifference

public static double dMaxDifference(DMatrix3C A,
                                    DMatrix3C B)

Returns:

the maximum element difference between the two n*m matrices

dMaxDifference

public static double dMaxDifference(DVector3C A,
                                    DVector3C B)

Returns:

the maximum element difference between the two n*m matrices

dMaxDifference

public static double dMaxDifference(DQuaternionC A,
                                    DQuaternionC B,
                                    int n,
                                    int m)

Returns:

the maximum element difference between the two n*m matrices

dMaxDifference

public static double dMaxDifference(double[] A,
                                    double[] B,
                                    int n,
                                    int m)

Returns:

the maximum element difference between the two n*m matrices

dMaxDifferenceLowerTriangle

public static double dMaxDifferenceLowerTriangle(double[] A,
                                                 double[] B,
                                                 int n)

Returns:

the maximum element difference between the lower triangle of two n*n matrices