Package org.robwork.sdurwsim

Class ODESimulator

java.lang.Object

org.robwork.sdurwsim.PhysicsEngine

org.robwork.sdurwsim.ODESimulator

public class ODESimulator
extends PhysicsEngine

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ODESimulator.StepMethod

Constructor Summary

Constructors

Constructor	Description
ODESimulator(long cPtr, boolean cMemoryOwn)
ODESimulator(DynamicWorkCellPtr dwc)
ODESimulator(DynamicWorkCellPtr dwc, ContactDetectorPtr detector)

Method Summary

Modifier and Type	Method	Description
void	addBody(BodyPtr body, State state)
void	addController(SimulatedControllerPtr controller)
void	addDevice(DynamicDevicePtr dev, State state)
void	addEmulatedContact(Vector3D pos, Vector3D force, Vector3D normal, Body b)
void	addSensor(SimulatedSensorPtr sensor, State state)
void	attach(BodyPtr b1, BodyPtr b2)
void	delete()
void	detach(BodyPtr b1, BodyPtr b2)
void	disableCollision(BodyPtr b1, BodyPtr b2)
void	emitPropertyChanged()
void	enableCollision(BodyPtr b1, BodyPtr b2)
void	exitPhysics()
int	getContactCnt()
static long	getCPtr(ODESimulator obj)
DynamicWorkCellPtr	getDynamicWorkCell()
Vector3D	getGravity()
double	getMaxSeperatingDistance()
PropertyMap	getPropertyMap()
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t	getSensors()
double	getTime()
void	initPhysics(State state)
boolean	isInitialized()
void	load(DynamicWorkCellPtr dwc)
void	removeController(SimulatedControllerPtr controller)
void	removeSensor(SimulatedSensorPtr sensor)
void	resetScene(State state)
boolean	setContactDetector(ContactDetectorPtr detector)
void	setContactLoggingEnabled(boolean enable)
void	setDynamicsEnabled(BodyPtr body, boolean enabled)
void	setEnabled(BodyPtr body, boolean enabled)
void	setStepMethod(ODESimulator.StepMethod method)
void	step(double dt, State state)

Methods inherited from class org.robwork.sdurwsim.PhysicsEngine

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

ODESimulator

public ODESimulator(long cPtr,
                    boolean cMemoryOwn)

ODESimulator

public ODESimulator(DynamicWorkCellPtr dwc,
                    ContactDetectorPtr detector)

ODESimulator

public ODESimulator(DynamicWorkCellPtr dwc)

Method Detail

getCPtr

public static long getCPtr(ODESimulator obj)

delete

public void delete()

Overrides:

delete in class PhysicsEngine

load

public void load(DynamicWorkCellPtr dwc)

Overrides:

load in class PhysicsEngine

setContactDetector

public boolean setContactDetector(ContactDetectorPtr detector)

Overrides:

setContactDetector in class PhysicsEngine

step

public void step(double dt,
                 State state)

Overrides:

step in class PhysicsEngine

resetScene

public void resetScene(State state)

Overrides:

resetScene in class PhysicsEngine

initPhysics

public void initPhysics(State state)

Overrides:

initPhysics in class PhysicsEngine

exitPhysics

public void exitPhysics()

Overrides:

exitPhysics in class PhysicsEngine

getTime

public double getTime()

Overrides:

getTime in class PhysicsEngine

setEnabled

public void setEnabled(BodyPtr body,
                       boolean enabled)

Overrides:

setEnabled in class PhysicsEngine

setDynamicsEnabled

public void setDynamicsEnabled(BodyPtr body,
                               boolean enabled)

Overrides:

setDynamicsEnabled in class PhysicsEngine

getPropertyMap

public PropertyMap getPropertyMap()

Overrides:

getPropertyMap in class PhysicsEngine

emitPropertyChanged

public void emitPropertyChanged()

Overrides:

emitPropertyChanged in class PhysicsEngine

addController

public void addController(SimulatedControllerPtr controller)

Overrides:

addController in class PhysicsEngine

removeController

public void removeController(SimulatedControllerPtr controller)

Overrides:

removeController in class PhysicsEngine

addBody

public void addBody(BodyPtr body,
                    State state)

Overrides:

addBody in class PhysicsEngine

addDevice

public void addDevice(DynamicDevicePtr dev,
                      State state)

Overrides:

addDevice in class PhysicsEngine

addSensor

public void addSensor(SimulatedSensorPtr sensor,
                      State state)

Overrides:

addSensor in class PhysicsEngine

removeSensor

public void removeSensor(SimulatedSensorPtr sensor)

Overrides:

removeSensor in class PhysicsEngine

attach

public void attach(BodyPtr b1,
                   BodyPtr b2)

Overrides:

attach in class PhysicsEngine

detach

public void detach(BodyPtr b1,
                   BodyPtr b2)

Overrides:

detach in class PhysicsEngine

getSensors

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()

Overrides:

getSensors in class PhysicsEngine

setStepMethod

public void setStepMethod(ODESimulator.StepMethod method)

isInitialized

public boolean isInitialized()

getDynamicWorkCell

public DynamicWorkCellPtr getDynamicWorkCell()

disableCollision

public void disableCollision(BodyPtr b1,
                             BodyPtr b2)

enableCollision

public void enableCollision(BodyPtr b1,
                            BodyPtr b2)

getGravity

public Vector3D getGravity()

addEmulatedContact

public void addEmulatedContact(Vector3D pos,
                               Vector3D force,
                               Vector3D normal,
                               Body b)

setContactLoggingEnabled

public void setContactLoggingEnabled(boolean enable)

getContactCnt

public int getContactCnt()

getMaxSeperatingDistance

public double getMaxSeperatingDistance()