org.web3d.vrml.nodes
Interface VRMLRigidBodyGroupNodeType

All Superinterfaces:

FrameStateListener, VRMLNode, VRMLNodeType

public interface VRMLRigidBodyGroupNodeType
extends VRMLNodeType

Representation of the top-level collection of RigidBody objects in Xj3D.

A collection of rigid bodies is a collective of nodes that are evaluated as a single set of conditions that need to be solved.

Version:

$Revision: 1.5 $

Author:

Justin Couch

Method Summary

void	delete() This node is about to be deleted due to a change in loaded world.
void	evaluateModel() Instruct the group node to evaluate itself right now based on the given time delta from the last time this was evaluated.
VRMLNodeType[]	getBodies() Get the body list, provides a live reference not a copy.
void	getGravity(float[] gravity) Get the current gravity vector applying to this collection.
VRMLNodeType[]	getJoints() Get the joint list, provides a live reference not a copy.
boolean	isEnabled() Is this group enabled for use right now?
int	numBodies() Get the number of valid bodies that this collection has
int	numJoints() Get the number of valid joints that this collection has
void	processInputContacts() Go through the list of input contacts, process them and send them off to ODE.
void	setBodies(VRMLNodeType[] bodies, int numValid) Set the collection of RigidBody nodes that this collection should manage.
void	setGravity(float[] gravity) Set the global gravity direction for this collection.
void	setJoints(VRMLNodeType[] joints, int numValid) Set the collection of Joint nodes that this collection should manage.
void	setTimestep(float deltaT) Adjust the model's timestep to the new value (in seconds).
void	updatePostSimulation() Update everything from ODE, back into the node fields.

Methods inherited from interface org.web3d.vrml.nodes.VRMLNodeType

addNodeListener, clearRemovedLayerIds, getFieldValue, getLayerIds, getMetadataObject, getRefCount, getRemovedLayerIds, hasFieldChanged, isSetupFinished, notifyExternProtoLoaded, removeNodeListener, sendRoute, setDEF, setFrameStateManager, setMetadataObject, setupFinished, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, updateRefCount

Methods inherited from interface org.web3d.vrml.lang.VRMLNode

getFieldDeclaration, getFieldIndex, getNodeFieldIndices, getNumFields, getPrimaryType, getSecondaryType, getUserData, getVRMLNodeName, isDEF, setErrorReporter, setUserData, setVersion

Methods inherited from interface org.web3d.vrml.nodes.FrameStateListener

allEventsComplete

Method Detail

processInputContacts

void processInputContacts()

Go through the list of input contacts, process them and send them off to ODE.

setTimestep

void setTimestep(float deltaT)

Adjust the model's timestep to the new value (in seconds). This is called periodically to adjust the timestep made based on the current frame rate to adjust the model.

Parameters:

deltaT - The time change in seconds

evaluateModel

void evaluateModel()

Instruct the group node to evaluate itself right now based on the given time delta from the last time this was evaluated. Does not check to see if the model is enabled first. That should be done by the user code.

updatePostSimulation

void updatePostSimulation()

Update everything from ODE, back into the node fields. This is done at the start of the next frame so that all the events, listeners etc fire at the right time in the event model.

delete

void delete()

This node is about to be deleted due to a change in loaded world. Clear up the ODE resources in use.

isEnabled

boolean isEnabled()

Is this group enabled for use right now?

Returns:

true if this is enabled

setGravity

void setGravity(float[] gravity)

Set the global gravity direction for this collection.

Parameters:

gravity - An array of 3 values for the gravity vector

getGravity

void getGravity(float[] gravity)

Get the current gravity vector applying to this collection.

Parameters:

gravity - An array to copy the values into

numJoints

int numJoints()

Get the number of valid joints that this collection has

Returns:

A number greater than or equal to zero

getJoints

VRMLNodeType[] getJoints()

Get the joint list, provides a live reference not a copy. The number of valid values is available from numJoints();

Returns:

An array of VRMLNodeTypes

setJoints

void setJoints(VRMLNodeType[] joints,
               int numValid)

Set the collection of Joint nodes that this collection should manage. If passed a zero for numValid this method will remove all current values.

Parameters:

joints - Array of new joint node instances to use

numValid - The number of valid values to get from the array

Throws:

InvalidFieldValueException - one of the provided nodes is not a X3DRigidJointNode instance

numBodies

int numBodies()

Get the number of valid bodies that this collection has

Returns:

A number greater than or equal to zero

getBodies

VRMLNodeType[] getBodies()

Get the body list, provides a live reference not a copy. The number of valid values is available from numBodies();

Returns:

An array of VRMLNodeTypes

setBodies

void setBodies(VRMLNodeType[] bodies,
               int numValid)

Set the collection of RigidBody nodes that this collection should manage. If passed a zero for numValid this method will remove all current values.

Parameters:

bodies - Array of new body node instances to use

numValid - The number of valid values to get from the array

Throws:

InvalidFieldValueException - one of the provided nodes is not a VRMLRigitBodyNodeType instance