Class ODERigidBody

java.lang.Object

org.episteme.nativ.physics.classical.mechanics.collision.backends.ode.ODERigidBody

All Implemented Interfaces:

RigidBodyBridge

public class ODERigidBody
extends Object
implements RigidBodyBridge

ODE implementation of RigidBodyBackend.

Constructor Summary

Constructors

Constructor	Description
ODERigidBody(org.ode4j.ode.DWorld world, RigidBody body)

Method Summary

Modifier and Type	Method	Description
void	applyCentralForce(double x, double y, double z)	Apply a central force to the body.
void	applyCentralImpulse(double x, double y, double z)	Apply a central impulse to the body.
void	destroy()	Destroys native resources associated with this body.
RigidBody	getOwner()	Gets the Episteme RigidBody owner of this bridge.
void	pullState()	Syncs the Episteme object from the backend state.
void	pushState()	Syncs the backend state from the Episteme object.

Methods inherited from class Object

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

Constructor Details

ODERigidBody

public ODERigidBody(org.ode4j.ode.DWorld world,
 RigidBody body)

Method Details

pushState

public void pushState()

Description copied from interface: RigidBodyBridge

Syncs the backend state from the Episteme object. Called before simulation step.

Specified by:

pushState in interface RigidBodyBridge

pullState

public void pullState()

Description copied from interface: RigidBodyBridge

Syncs the Episteme object from the backend state. Called after simulation step.

Specified by:

pullState in interface RigidBodyBridge

applyCentralForce

public void applyCentralForce(double x,
 double y,
 double z)

Description copied from interface: RigidBodyBridge

Apply a central force to the body.

Specified by:

applyCentralForce in interface RigidBodyBridge

Parameters:

x - force x

y - force y

z - force z

applyCentralImpulse

public void applyCentralImpulse(double x,
 double y,
 double z)

Description copied from interface: RigidBodyBridge

Apply a central impulse to the body.

Specified by:

applyCentralImpulse in interface RigidBodyBridge

Parameters:

x - impulse x

y - impulse y

z - impulse z

getOwner

public RigidBody getOwner()

Description copied from interface: RigidBodyBridge

Gets the Episteme RigidBody owner of this bridge.

Specified by:

getOwner in interface RigidBodyBridge

destroy

public void destroy()

Description copied from interface: RigidBodyBridge

Destroys native resources associated with this body.

Specified by:

destroy in interface RigidBodyBridge