Class ODEWorld

java.lang.Object

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

All Implemented Interfaces:

PhysicsWorldBridge

public class ODEWorld
extends Object
implements PhysicsWorldBridge

ODE implementation of PhysicsWorldBackend.

Constructor Summary

Constructors

Constructor	Description
ODEWorld()

Method Summary

Modifier and Type	Method	Description
void	addRigidBody(RigidBody body)	Adds a rigid body to the simulation.
org.ode4j.ode.DWorld	getOdeWorld()
void	removeRigidBody(RigidBody body)	Removes a rigid body from the simulation.
void	setGravity(double gravityX, double gravityY, double gravityZ)	Sets the gravity vector for the world.
void	stepSimulation(Quantity<Time> timeStep)	Steps the simulation forward in time.
void	stepSimulation(Quantity<Time> timeStep, int maxSubSteps, Quantity<Time> fixedTimeStep)	Steps the simulation with fixed time steps and max substeps.

Methods inherited from class Object

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

Constructor Details

ODEWorld

public ODEWorld()

Method Details

addRigidBody

public void addRigidBody(RigidBody body)

Description copied from interface: PhysicsWorldBridge

Adds a rigid body to the simulation.

Specified by:

addRigidBody in interface PhysicsWorldBridge

Parameters:

body - the body to add

removeRigidBody

public void removeRigidBody(RigidBody body)

Description copied from interface: PhysicsWorldBridge

Removes a rigid body from the simulation.

Specified by:

removeRigidBody in interface PhysicsWorldBridge

Parameters:

body - the body to remove

stepSimulation

public void stepSimulation(Quantity<Time> timeStep)

Description copied from interface: PhysicsWorldBridge

Steps the simulation forward in time.

Specified by:

stepSimulation in interface PhysicsWorldBridge

Parameters:

timeStep - the amount of time to simulate

stepSimulation

public void stepSimulation(Quantity<Time> timeStep,
 int maxSubSteps,
 Quantity<Time> fixedTimeStep)

Description copied from interface: PhysicsWorldBridge

Steps the simulation with fixed time steps and max substeps.

Specified by:

stepSimulation in interface PhysicsWorldBridge

Parameters:

timeStep - the amount of time to simulate

maxSubSteps - maximum number of internal substeps

fixedTimeStep - the internal fixed time step

setGravity

public void setGravity(double gravityX,
 double gravityY,
 double gravityZ)

Description copied from interface: PhysicsWorldBridge

Sets the gravity vector for the world.

Specified by:

setGravity in interface PhysicsWorldBridge

Parameters:

gravityX - gravity in X

gravityY - gravity in Y

gravityZ - gravity in Z

getOdeWorld

public org.ode4j.ode.DWorld getOdeWorld()