Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.physics

Class ODE4JHelper

java.lang.Object

com.marginallyclever.ro3.physics.ODE4JHelper

public class ODE4JHelper
extends Object

Shared methods for working with ODE4J physics.

Constructor Summary

Constructors

Constructor	Description
ODE4JHelper()

Method Summary

Modifier and Type	Method	Description
static javax.vecmath.Matrix4d	convertODEtoMatrix(org.ode4j.math.DVector3C translation, org.ode4j.math.DMatrix3C rotation)	Convert an ODE4J translation/rotation pair to a Java3D matrix.
static org.ode4j.math.DMatrix3C	convertRotationToODE(javax.vecmath.Matrix4d mat)	receive a 4x4 matrix.
static javax.vecmath.Vector3d	jsonToVector3(org.json.JSONObject vector)
static org.json.JSONObject	vector3ToJSON(javax.vecmath.Vector3d vector)
static double	volumeBox(double x, double y, double z)
static double	volumeCapsule(double radius, double length)
static double	volumeCylinder(double radius, double length)
static double	volumeSphere(double radius)

Methods inherited from class java.lang.Object

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

Constructor Details

ODE4JHelper

public ODE4JHelper()

Method Details

convertODEtoMatrix

public static javax.vecmath.Matrix4d convertODEtoMatrix(org.ode4j.math.DVector3C translation,
 org.ode4j.math.DMatrix3C rotation)

Convert an ODE4J translation/rotation pair to a Java3D matrix.

Parameters:

translation - the translation component.

rotation - the rotation matrix

Returns:

the Java3D matrix.

convertRotationToODE

public static org.ode4j.math.DMatrix3C convertRotationToODE(javax.vecmath.Matrix4d mat)

receive a 4x4 matrix. extract the rotation component and store it in a DMatrix3C.

Parameters:

mat - the 4x4 matrix.

Returns:

the rotation component as a 3x3 matrix.

volumeCylinder

public static double volumeCylinder(double radius,
 double length)

volumeCapsule

public static double volumeCapsule(double radius,
 double length)

volumeBox

public static double volumeBox(double x,
 double y,
 double z)

volumeSphere

public static double volumeSphere(double radius)

vector3ToJSON

public static org.json.JSONObject vector3ToJSON(javax.vecmath.Vector3d vector)

jsonToVector3

public static javax.vecmath.Vector3d jsonToVector3(org.json.JSONObject vector)