Package org.robwork.sdurwsim

Class ODESimulatorPtr

java.lang.Object

org.robwork.sdurwsim.ODESimulatorPtr

public class ODESimulatorPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
ODESimulatorPtr()	Default constructor yielding a NULL-pointer.
ODESimulatorPtr(long cPtr, boolean cMemoryOwn)
ODESimulatorPtr(ODESimulator ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
ODESimulator	__ref__()	Dereferencing operator.
void	addBody(BodyPtr body, State state)
void	addController(SimulatedControllerPtr controller)
void	addDevice(DynamicDevicePtr dev, State state)
void	addEmulatedContact(Vector3D pos, Vector3D force, Vector3D normal, Body b)
void	addSensor(SimulatedSensorPtr sensor, State state)
void	attach(BodyPtr b1, BodyPtr b2)
void	delete()
ODESimulator	deref()	The pointer stored in the object.
void	detach(BodyPtr b1, BodyPtr b2)
void	disableCollision(BodyPtr b1, BodyPtr b2)
void	emitPropertyChanged()
void	enableCollision(BodyPtr b1, BodyPtr b2)
boolean	equals(ODESimulator p)
void	exitPhysics()
int	getContactCnt()
static long	getCPtr(ODESimulatorPtr obj)
ODESimulator	getDeref()	Member access operator.
DynamicWorkCellPtr	getDynamicWorkCell()
Vector3D	getGravity()
double	getMaxSeperatingDistance()
PropertyMap	getPropertyMap()
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t	getSensors()
double	getTime()
void	initPhysics(State state)
boolean	isInitialized()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	load(DynamicWorkCellPtr dwc)
void	removeController(SimulatedControllerPtr controller)
void	removeSensor(SimulatedSensorPtr sensor)
void	resetScene(State state)
boolean	setContactDetector(ContactDetectorPtr detector)
void	setContactLoggingEnabled(boolean enable)
void	setDynamicsEnabled(BodyPtr body, boolean enabled)
void	setEnabled(BodyPtr body, boolean enabled)
void	setStepMethod(ODESimulator.StepMethod method)
void	step(double dt, State state)

Methods inherited from class java.lang.Object

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

Constructor Detail

ODESimulatorPtr

public ODESimulatorPtr(long cPtr,
                       boolean cMemoryOwn)

ODESimulatorPtr

public ODESimulatorPtr()

Default constructor yielding a NULL-pointer.

ODESimulatorPtr

public ODESimulatorPtr(ODESimulator ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(ODESimulatorPtr obj)

delete

public void delete()

deref

public ODESimulator deref()

The pointer stored in the object.

__ref__

public ODESimulator __ref__()

Dereferencing operator.

getDeref

public ODESimulator getDeref()

Member access operator.

equals

public boolean equals(ODESimulator p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

load

public void load(DynamicWorkCellPtr dwc)

setContactDetector

public boolean setContactDetector(ContactDetectorPtr detector)

step

public void step(double dt,
                 State state)

resetScene

public void resetScene(State state)

initPhysics

public void initPhysics(State state)

exitPhysics

public void exitPhysics()

getTime

public double getTime()

setEnabled

public void setEnabled(BodyPtr body,
                       boolean enabled)

setDynamicsEnabled

public void setDynamicsEnabled(BodyPtr body,
                               boolean enabled)

getPropertyMap

public PropertyMap getPropertyMap()

emitPropertyChanged

public void emitPropertyChanged()

addController

public void addController(SimulatedControllerPtr controller)

removeController

public void removeController(SimulatedControllerPtr controller)

addBody

public void addBody(BodyPtr body,
                    State state)

addDevice

public void addDevice(DynamicDevicePtr dev,
                      State state)

addSensor

public void addSensor(SimulatedSensorPtr sensor,
                      State state)

removeSensor

public void removeSensor(SimulatedSensorPtr sensor)

attach

public void attach(BodyPtr b1,
                   BodyPtr b2)

detach

public void detach(BodyPtr b1,
                   BodyPtr b2)

getSensors

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()

setStepMethod

public void setStepMethod(ODESimulator.StepMethod method)

isInitialized

public boolean isInitialized()

getDynamicWorkCell

public DynamicWorkCellPtr getDynamicWorkCell()

disableCollision

public void disableCollision(BodyPtr b1,
                             BodyPtr b2)

enableCollision

public void enableCollision(BodyPtr b1,
                            BodyPtr b2)

getGravity

public Vector3D getGravity()

addEmulatedContact

public void addEmulatedContact(Vector3D pos,
                               Vector3D force,
                               Vector3D normal,
                               Body b)

setContactLoggingEnabled

public void setContactLoggingEnabled(boolean enable)

getContactCnt

public int getContactCnt()

getMaxSeperatingDistance

public double getMaxSeperatingDistance()