Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.odenode.odebody

Class ODEBody

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.pose.Pose

com.marginallyclever.ro3.node.nodes.odenode.ODENode

com.marginallyclever.ro3.node.nodes.odenode.odebody.ODEBody

All Implemented Interfaces:

PoseChangeListener, EventListener

Direct Known Subclasses:

ODEBox, ODECapsule, ODECylinder, ODESphere

public abstract class ODEBody
extends ODENode

An ODENode that represents a body with a geometry in the ODE physics engine. This node is responsible for the DBody, DMass, and DGeom. Classes which extend this class are responsible for the visual and physical representation of the shape.

TODO: They should not be responsible for the visual representation because physical and visual shape don't always match.

Constructor Summary

Constructors

Constructor	Description
ODEBody()
ODEBody(String name)

Method Summary

Modifier and Type	Method	Description
void	addODEAttachListener(ODELinkAttachListener o)
void	addODEDetachListener(ODELinkDetachListener o)
void	fireODEAttach()	Fired after an ODEBody is attached to the scene.
void	fireODEDetach()	Fired after an ODEBody is detached from the scene.
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
org.ode4j.ode.DGeom	getGeom()
Icon	getIcon()	Set a custom icon for this node.
double	getMassQty()
org.ode4j.ode.DBody	getODEBody()
boolean	isTouchingSomething()
void	onPoseChange(Pose pose)	Override this method to receive pose change events from the parent.
void	removeODEAttachListener(ODELinkAttachListener o)
void	removeODEDetachListener(ODELinkDetachListener o)
void	setAngularVel(javax.vecmath.Vector3d angularVel)
void	setLinearVel(javax.vecmath.Vector3d linearVel)
void	setLocal(javax.vecmath.Matrix4d m)	Set the local transform of this pose.
void	setMassQty(double massQty)
void	setTouchingSomething(boolean isTouchingSomething)
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.
void	update(double dt)	Called every frame.

Methods inherited from class com.marginallyclever.ro3.node.nodes.pose.Pose

addPoseChangeListener, getLocal, getParentPose, getPosition, getRotationEuler, getRotationIndex, getWorld, removePoseChangeListener, setPosition, setRotationEuler, setRotationIndex, setWorld

Methods inherited from class com.marginallyclever.ro3.node.Node

addAttachListener, addChild, addChild, addDetachListener, addReadyListener, addRenameListener, findByPath, findChild, findChild, findFirstChild, findFirstSibling, findNodeByID, findParent, findParent, getAbsolutePath, getChildren, getName, getParent, getRootNode, getUniqueID, hasParent, isNameUsedBySibling, removeAttachListener, removeChild, removeDetachListener, removeReadyListener, removeRenameListener, setName, witnessProtection

Methods inherited from class java.lang.Object

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

Constructor Details

ODEBody

public ODEBody()

ODEBody

public ODEBody(String name)

Method Details

getComponents

public void getComponents(List<JPanel> list)

Description copied from class: Pose

Build a Swing Component that represents this Node.

Overrides:

getComponents in class Pose

Parameters:

list - the list to add components to.

update

public void update(double dt)

Description copied from class: Node

Called every frame.

Overrides:

update in class ODENode

Parameters:

dt - the time since the last frame.

getIcon

public Icon getIcon()

Description copied from class: Node

Set a custom icon for this node.

Overrides:

getIcon in class Pose

Returns:

the icon, or null if none.

getMassQty

public double getMassQty()

setMassQty

public void setMassQty(double massQty)

Parameters:

massQty - must be >= 0

getODEBody

public org.ode4j.ode.DBody getODEBody()

toJSON

public org.json.JSONObject toJSON()

Description copied from class: Node

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Overrides:

toJSON in class Pose

Returns:

the JSON object.

fromJSON

public void fromJSON(org.json.JSONObject from)

Description copied from class: Node

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Overrides:

fromJSON in class ODENode

Parameters:

from - the JSON object to read from.

setAngularVel

public void setAngularVel(javax.vecmath.Vector3d angularVel)

setLinearVel

public void setLinearVel(javax.vecmath.Vector3d linearVel)

getGeom

public org.ode4j.ode.DGeom getGeom()

isTouchingSomething

public boolean isTouchingSomething()

setTouchingSomething

public void setTouchingSomething(boolean isTouchingSomething)

setLocal

public void setLocal(javax.vecmath.Matrix4d m)

Description copied from class: Pose

Set the local transform of this pose. This is the best method to override if you want to capture changes to the local OR world transform.

Overrides:

setLocal in class Pose

Parameters:

m - the new local transform.

onPoseChange

public void onPoseChange(Pose pose)

Description copied from class: Pose

Override this method to receive pose change events from the parent.

Specified by:

onPoseChange in interface PoseChangeListener

Overrides:

onPoseChange in class Pose

Parameters:

pose - the parent pose that has changed.

fireODEAttach

public void fireODEAttach()

Fired after an ODEBody is attached to the scene.

fireODEDetach

public void fireODEDetach()

Fired after an ODEBody is detached from the scene.

addODEDetachListener

public void addODEDetachListener(ODELinkDetachListener o)

removeODEDetachListener

public void removeODEDetachListener(ODELinkDetachListener o)

addODEAttachListener

public void addODEAttachListener(ODELinkAttachListener o)

removeODEAttachListener

public void removeODEAttachListener(ODELinkAttachListener o)