Package org.web3d.vrml.renderer.common.nodes.rigidphysics

Class BaseDoubleAxisHingeJoint

java.lang.Object

org.web3d.vrml.renderer.common.nodes.AbstractNode

org.web3d.vrml.renderer.common.nodes.rigidphysics.BaseJointNode

org.web3d.vrml.renderer.common.nodes.rigidphysics.BaseDoubleAxisHingeJoint

All Implemented Interfaces:

VRMLNode, FrameStateListener, VRMLNodeType, VRMLRigidJointNodeType

Direct Known Subclasses:

NRDoubleAxisHingeJoint, OGLDoubleAxisHingeJoint

public abstract class BaseDoubleAxisHingeJoint
extends BaseJointNode

Implementation of the DoubleAxisHingeJoint node.

Version:

$Revision: 1.15 $

Author:

Justin Couch

Field Summary

Fields

Modifier and Type	Field	Description
protected static final String	BOUNCE1_RANGE_MSG	Message when the stopBounce value is out of range
protected static final int	FIELD_ANCHOR_POINT	The field index for anchorPoint
protected static final int	FIELD_ANGULAR_VELOCITY1	The field index for desiredAngularVelocity1
protected static final int	FIELD_ANGULAR_VELOCITY2	The field index for desiredAngularVelocity2
protected static final int	FIELD_AXIS1	The field index for axis1
protected static final int	FIELD_AXIS2	The field index for axis2
protected static final int	FIELD_BODY1_ANCHOR_POINT	The field index for body1AnchorPoint
protected static final int	FIELD_BODY1_AXIS	The field index for body1Axis
protected static final int	FIELD_BODY2_ANCHOR_POINT	The field index for body2AnchorPoint
protected static final int	FIELD_BODY2_AXIS	The field index for body2Axis
protected static final int	FIELD_HINGE1_ANGLE	The field index for hinge1Angle
protected static final int	FIELD_HINGE1_ANGLE_RATE	The field index for hinge1AngleRate
protected static final int	FIELD_HINGE2_ANGLE	The field index for hinge2Angle
protected static final int	FIELD_HINGE2_ANGLE_RATE	The field index for hinge2AngleRate
protected static final int	FIELD_MAX_ANGLE1	The field index for maxAngle1
protected static final int	FIELD_MAX_TORQUE1	The field index for maxTorque1
protected static final int	FIELD_MAX_TORQUE2	The field index for maxTorque2
protected static final int	FIELD_MIN_ANGLE1	The field index for minAngle1
protected static final int	FIELD_STOP_BOUNCE1	The field index for stopBounce1
protected static final int	FIELD_STOP_CFM1	The field index for stopConstantForceMix1
protected static final int	FIELD_STOP_ERROR_CORRECTION1	The field index for stopErrorCorrection1
protected static final int	FIELD_SUSPENSION_ERP	The field index for suspensionErrorCorrection
protected static final int	FIELD_SUSPENSION_FORCE	The field index for suspensionForce
protected static final int	LAST_INDEX	Last index used by this base node
protected static final String	MAX_ANGLE1_MSG	Message when the maxAngle1 value is out of range
protected static final String	MIN_ANGLE1_MSG	Message when the minAngle1 value is out of range
protected org.odejava.JointHinge2	odeJoint	The ODE representation of the joint
protected static final String	STOP_CFM1_NEG_MSG	Message when the suspension force value is negative
protected static final String	STOP_ERROR1_RANGE_MSG	Message when the stopErrorCorrection1 value is out of range
protected static final String	SUSP_ERROR_RANGE_MSG	The suspenion error correction is out of range
protected static final String	SUSP_NEG_MSG	Message when the suspension force value is negative
protected float[]	vfAnchorPoint	The value of the anchorPoint field
protected float[]	vfAxis1	The value of the axis1 field
protected float[]	vfAxis2	The value of the axis2 field
protected float[]	vfBody1AnchorPoint	The value of the body1AnchorPoint field
protected float[]	vfBody1Axis	The value of the body1Axis field
protected float[]	vfBody2AnchorPoint	The value of the body1AnchorPoint field
protected float[]	vfBody2Axis	The value of the body1Axis field
protected float	vfDesiredAngularVelocity1	The value of the desiredAngularVelocity1 field
protected float	vfDesiredAngularVelocity2	The value of the desiredAngularVelocity2 field
protected float	vfHinge1Angle	The value of the hinge1Angle field
protected float	vfHinge1AngleRate	The value of the hinge1AngleRate field
protected float	vfHinge2Angle	The value of the hinge2Angle field
protected float	vfHinge2AngleRate	The value of the hinge2AngleRate field
protected float	vfMaxAngle1	The value of the maxAngle1 field
protected float	vfMaxTorque1	The value of the maxTorque1 field
protected float	vfMaxTorque2	The value of the maxTorque2 field
protected float	vfMinAngle1	The value of the minAngle1 field
protected float	vfStopBounce1	The value of the stopBounce1 field
protected float	vfStopConstantForceMix1	The value of the stopConstantForceMix1 field
protected float	vfStopErrorCorrection1	The value of the stopErrorCorrection1 field
protected float	vfSuspensionErrorCorrection	The value of the suspensionErrorCorrection field
protected float	vfSuspensionForce	The value of the suspensionForce field

Fields inherited from class org.web3d.vrml.renderer.common.nodes.rigidphysics.BaseJointNode

BODY_NODE_MSG, BODY_PROTO_MSG, FIELD_BODY1, FIELD_BODY2, FIELD_MUST_OUTPUT, LAST_JOINT_INDEX, numMustOutput, numOutputIndices, outputIndices, pBody1, pBody2, vfBody1, vfBody2, vfMustOutput

Fields inherited from class org.web3d.vrml.renderer.common.nodes.AbstractNode

errorReporter, FIELD_METADATA, fieldLocalData, hasChanged, inSetup, isDEF, isStatic, LAST_NODE_INDEX, layerIds, nodeName, pMetadata, refCounts, removedLayerIds, stateManager, STATIC_SCENE_GRAPH, vfMetadata, vrmlMajorVersion, vrmlMinorVersion

Constructor Summary

Constructors

Constructor	Description
BaseDoubleAxisHingeJoint()	Construct a new double axis hinge joint node object.
BaseDoubleAxisHingeJoint(VRMLNodeType node)	Construct a new instance of this node based on the details from the given node.

Method Summary

Modifier and Type	Method	Description
void	delete()	This node is about to be deleted due to a change in loaded world.
VRMLFieldDeclaration	getFieldDeclaration(int index)	Get the declaration of the field at the given index.
int	getFieldIndex(String fieldName)	Get the index of the given field name.
VRMLFieldData	getFieldValue(int index)	Get the value of a field.
int[]	getNodeFieldIndices()	Get the list of indices that correspond to fields that contain nodes ie MFNode and SFNode).
int	getNumFields()	Get the number of fields.
int	getPrimaryType()	Get the primary type of this node.
void	sendRoute(double time, int srcIndex, VRMLNodeType destNode, int destIndex)	Send a routed value from this node to the given destination node.
void	setBody1(VRMLNodeType body)	Set node content as replacement for the body1 field.
void	setBody2(VRMLNodeType body)	Set node content as replacement for the body1 field.
void	setODEWorld(org.odejava.World wld, org.odejava.JointGroup grp)	Set the parent world that this body belongs to.
void	setupFinished()	Notification that the construction phase of this node has finished.
void	setValue(int index, float value)	Set the value of the field at the given index as a single float.
void	setValue(int index, float[] value, int numValid)	Set the value of the field at the given index as a single float.
void	updateRequestedOutputs()	Instruction to the node to fetch the appropriate field values' output from the physics model and update the outputOnly field with the values.

Methods inherited from class org.web3d.vrml.renderer.common.nodes.rigidphysics.BaseJointNode

getBody1, getBody2, getOutputFields, numOutputs, setValue, setValue

Methods inherited from class org.web3d.vrml.renderer.common.nodes.AbstractNode

addNodeListener, allEventsComplete, checkNodeType, checkSecondaryType, checkSecondaryType, clearRemovedLayerIds, fireFieldChanged, getLayerIds, getMetadataObject, getRefCount, getRemovedLayerIds, getSecondaryType, getUserData, getVRMLNodeName, hasFieldChanged, isDEF, isSetupFinished, notifyExternProtoLoaded, removeNodeListener, setDEF, setErrorReporter, setFrameStateManager, setMetadataObject, setUserData, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setVersion, throwInitOnlyWriteException, throwInputOnlyWriteException, throwInvalidNodeException, throwInvalidProtoException, throwOutputOnlyWriteException, updateRefCount, updateRefs

Methods inherited from class java.lang.Object

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

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

allEventsComplete

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

getSecondaryType, getUserData, getVRMLNodeName, isDEF, setErrorReporter, setUserData, setVersion

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

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

Field Details

FIELD_ANCHOR_POINT

protected static final int FIELD_ANCHOR_POINT

The field index for anchorPoint

See Also:

• Constant Field Values

FIELD_AXIS1

protected static final int FIELD_AXIS1

The field index for axis1

See Also:

• Constant Field Values

FIELD_AXIS2

protected static final int FIELD_AXIS2

The field index for axis2

See Also:

• Constant Field Values

FIELD_BODY1_ANCHOR_POINT

protected static final int FIELD_BODY1_ANCHOR_POINT

The field index for body1AnchorPoint

See Also:

• Constant Field Values

FIELD_BODY2_ANCHOR_POINT

protected static final int FIELD_BODY2_ANCHOR_POINT

The field index for body2AnchorPoint

See Also:

• Constant Field Values

FIELD_ANGULAR_VELOCITY1

protected static final int FIELD_ANGULAR_VELOCITY1

The field index for desiredAngularVelocity1

See Also:

• Constant Field Values

FIELD_ANGULAR_VELOCITY2

protected static final int FIELD_ANGULAR_VELOCITY2

The field index for desiredAngularVelocity2

See Also:

• Constant Field Values

FIELD_BODY1_AXIS

protected static final int FIELD_BODY1_AXIS

The field index for body1Axis

See Also:

• Constant Field Values

FIELD_BODY2_AXIS

protected static final int FIELD_BODY2_AXIS

The field index for body2Axis

See Also:

• Constant Field Values

FIELD_MIN_ANGLE1

protected static final int FIELD_MIN_ANGLE1

The field index for minAngle1

See Also:

• Constant Field Values

FIELD_MAX_ANGLE1

protected static final int FIELD_MAX_ANGLE1

The field index for maxAngle1

See Also:

• Constant Field Values

FIELD_MAX_TORQUE1

protected static final int FIELD_MAX_TORQUE1

The field index for maxTorque1

See Also:

• Constant Field Values

FIELD_MAX_TORQUE2

protected static final int FIELD_MAX_TORQUE2

The field index for maxTorque2

See Also:

• Constant Field Values

FIELD_HINGE1_ANGLE

protected static final int FIELD_HINGE1_ANGLE

The field index for hinge1Angle

See Also:

• Constant Field Values

FIELD_HINGE2_ANGLE

protected static final int FIELD_HINGE2_ANGLE

The field index for hinge2Angle

See Also:

• Constant Field Values

FIELD_HINGE1_ANGLE_RATE

protected static final int FIELD_HINGE1_ANGLE_RATE

The field index for hinge1AngleRate

See Also:

• Constant Field Values

FIELD_HINGE2_ANGLE_RATE

protected static final int FIELD_HINGE2_ANGLE_RATE

The field index for hinge2AngleRate

See Also:

• Constant Field Values

FIELD_STOP_BOUNCE1

protected static final int FIELD_STOP_BOUNCE1

The field index for stopBounce1

See Also:

• Constant Field Values

FIELD_STOP_ERROR_CORRECTION1

protected static final int FIELD_STOP_ERROR_CORRECTION1

The field index for stopErrorCorrection1

See Also:

• Constant Field Values

FIELD_STOP_CFM1

protected static final int FIELD_STOP_CFM1

The field index for stopConstantForceMix1

See Also:

• Constant Field Values

FIELD_SUSPENSION_FORCE

protected static final int FIELD_SUSPENSION_FORCE

The field index for suspensionForce

See Also:

• Constant Field Values

FIELD_SUSPENSION_ERP

protected static final int FIELD_SUSPENSION_ERP

The field index for suspensionErrorCorrection

See Also:

• Constant Field Values

LAST_INDEX

protected static final int LAST_INDEX

Last index used by this base node

See Also:

• Constant Field Values

MIN_ANGLE1_MSG

protected static final String MIN_ANGLE1_MSG

Message when the minAngle1 value is out of range

See Also:

• Constant Field Values

MAX_ANGLE1_MSG

protected static final String MAX_ANGLE1_MSG

Message when the maxAngle1 value is out of range

See Also:

• Constant Field Values

BOUNCE1_RANGE_MSG

protected static final String BOUNCE1_RANGE_MSG

Message when the stopBounce value is out of range

See Also:

• Constant Field Values

STOP_ERROR1_RANGE_MSG

protected static final String STOP_ERROR1_RANGE_MSG

Message when the stopErrorCorrection1 value is out of range

See Also:

• Constant Field Values

STOP_CFM1_NEG_MSG

protected static final String STOP_CFM1_NEG_MSG

Message when the suspension force value is negative

See Also:

• Constant Field Values

SUSP_NEG_MSG

protected static final String SUSP_NEG_MSG

Message when the suspension force value is negative

See Also:

• Constant Field Values

SUSP_ERROR_RANGE_MSG

protected static final String SUSP_ERROR_RANGE_MSG

The suspenion error correction is out of range

See Also:

• Constant Field Values

vfAnchorPoint

protected float[] vfAnchorPoint

The value of the anchorPoint field

vfBody1AnchorPoint

protected float[] vfBody1AnchorPoint

The value of the body1AnchorPoint field

vfBody2AnchorPoint

protected float[] vfBody2AnchorPoint

The value of the body1AnchorPoint field

vfAxis1

protected float[] vfAxis1

The value of the axis1 field

vfAxis2

protected float[] vfAxis2

The value of the axis2 field

vfBody1Axis

protected float[] vfBody1Axis

The value of the body1Axis field

vfBody2Axis

protected float[] vfBody2Axis

The value of the body1Axis field

vfDesiredAngularVelocity1

protected float vfDesiredAngularVelocity1

The value of the desiredAngularVelocity1 field

vfDesiredAngularVelocity2

protected float vfDesiredAngularVelocity2

The value of the desiredAngularVelocity2 field

vfMaxTorque1

protected float vfMaxTorque1

The value of the maxTorque1 field

vfMaxTorque2

protected float vfMaxTorque2

The value of the maxTorque2 field

vfMinAngle1

protected float vfMinAngle1

The value of the minAngle1 field

vfMaxAngle1

protected float vfMaxAngle1

The value of the maxAngle1 field

vfHinge1Angle

protected float vfHinge1Angle

The value of the hinge1Angle field

vfHinge2Angle

protected float vfHinge2Angle

The value of the hinge2Angle field

vfHinge1AngleRate

protected float vfHinge1AngleRate

The value of the hinge1AngleRate field

vfHinge2AngleRate

protected float vfHinge2AngleRate

The value of the hinge2AngleRate field

vfStopBounce1

protected float vfStopBounce1

The value of the stopBounce1 field

vfStopErrorCorrection1

protected float vfStopErrorCorrection1

The value of the stopErrorCorrection1 field

vfStopConstantForceMix1

protected float vfStopConstantForceMix1

The value of the stopConstantForceMix1 field

vfSuspensionForce

protected float vfSuspensionForce

The value of the suspensionForce field

vfSuspensionErrorCorrection

protected float vfSuspensionErrorCorrection

The value of the suspensionErrorCorrection field

odeJoint

protected org.odejava.JointHinge2 odeJoint

The ODE representation of the joint

Constructor Details

BaseDoubleAxisHingeJoint

public BaseDoubleAxisHingeJoint()

Construct a new double axis hinge joint node object.

BaseDoubleAxisHingeJoint

public BaseDoubleAxisHingeJoint(VRMLNodeType node)

Construct a new instance of this node based on the details from the given node. If the node is not the same type, an exception will be thrown.

Parameters:

node - The node to copy

Throws:

IllegalArgumentException - The node is not the same type

Method Details

delete

public void delete()

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

updateRequestedOutputs

public void updateRequestedOutputs()

Instruction to the node to fetch the appropriate field values' output from the physics model and update the outputOnly field with the values.

setODEWorld

public void setODEWorld(org.odejava.World wld,
 org.odejava.JointGroup grp)

Set the parent world that this body belongs to. A null value clears the world and indicates the physics model or body is no longer in use by this world (eg deletes it).

Parameters:

wld - The new world instance to use or null

grp - The group that this joint should belong to

setBody1

public void setBody1(VRMLNodeType body)
              throws InvalidFieldValueException

Set node content as replacement for the body1 field. This checks only for basic node representation. If a concrete node needs a specific set of nodes, it should override this method to check.

Specified by:

setBody1 in interface VRMLRigidJointNodeType

Overrides:

setBody1 in class BaseJointNode

Parameters:

body - The new body representation. null will act like delete

Throws:

InvalidFieldValueException - The node does not match the required type.

setBody2

public void setBody2(VRMLNodeType body)
              throws InvalidFieldValueException

Set node content as replacement for the body1 field. This checks only for basic node representation. If a concrete node needs a specific set of nodes, it should override this method to check.

Specified by:

setBody2 in interface VRMLRigidJointNodeType

Overrides:

setBody2 in class BaseJointNode

Parameters:

body - The new body representation. null will act like delete

Throws:

InvalidFieldValueException - The node does not match the required type.

setupFinished

public void setupFinished()

Notification that the construction phase of this node has finished. If the node would like to do any internal processing, such as setting up geometry, then go for it now.

Specified by:

setupFinished in interface VRMLNodeType

Overrides:

setupFinished in class BaseJointNode

getFieldIndex

public int getFieldIndex(String fieldName)

Get the index of the given field name. If the name does not exist for this node then return a value of -1.

Parameters:

fieldName - The name of the field we want the index from

Returns:

The index of the field name or -1

getNodeFieldIndices

public int[] getNodeFieldIndices()

Get the list of indices that correspond to fields that contain nodes ie MFNode and SFNode). Used for blind scene graph traversal without needing to spend time querying for all fields etc. If a node does not have any fields that contain nodes, this shall return null. The field list covers all field types, regardless of whether they are readable or not at the VRML-level.

Returns:

The list of field indices that correspond to SF/MFnode fields or null if none

getFieldDeclaration

public VRMLFieldDeclaration getFieldDeclaration(int index)

Get the declaration of the field at the given index. This allows for reverse lookup if needed. If the field does not exist, this will give a value of null.

Parameters:

index - The index of the field to get information

Returns:

A representation of this field's information

getNumFields

public int getNumFields()

Get the number of fields.

Returns:

The number of fields.

getPrimaryType

public int getPrimaryType()

Get the primary type of this node. Replaces the instanceof mechanism for use in switch statements.

Specified by:

getPrimaryType in interface VRMLNode

Overrides:

getPrimaryType in class BaseJointNode

Returns:

The primary type

getFieldValue

public VRMLFieldData getFieldValue(int index)
                            throws InvalidFieldException

Get the value of a field. If the field is a primitive type, it will return a class representing the value. For arrays or nodes it will return the instance directly.

Specified by:

getFieldValue in interface VRMLNodeType

Overrides:

getFieldValue in class BaseJointNode

Parameters:

index - The index of the field to change.

Returns:

The class representing the field value

Throws:

InvalidFieldException - The field index is not known

sendRoute

public void sendRoute(double time,
 int srcIndex,
 VRMLNodeType destNode,
 int destIndex)

Send a routed value from this node to the given destination node. The route should use the appropriate setValue() method of the destination node. It should not attempt to cast the node up to a higher level. Routing should also follow the standard rules for the loop breaking and other appropriate rules for the specification.

Specified by:

sendRoute in interface VRMLNodeType

Overrides:

sendRoute in class BaseJointNode

Parameters:

time - The time that this route occurred (not necessarily epoch time. Should be treated as a relative value only)

srcIndex - The index of the field in this node that the value should be sent from

destNode - The node reference that we will be sending the value to

destIndex - The index of the field in the destination node that the value should be sent to.

setValue

public void setValue(int index,
 float value)
              throws InvalidFieldValueException,
InvalidFieldException

Set the value of the field at the given index as a single float. This would be used to set SFFloat field types.

Specified by:

setValue in interface VRMLNodeType

Overrides:

setValue in class AbstractNode

Parameters:

index - The index of destination field to set

value - The new value to use for the node

Throws:

InvalidFieldException - The field index is not know

InvalidFieldValueException - The value provided is not in range or not appropriate for this field

setValue

public void setValue(int index,
 float[] value,
 int numValid)
              throws InvalidFieldValueException,
InvalidFieldException

Set the value of the field at the given index as a single float. This would be used to set SFFloat field types.

Specified by:

setValue in interface VRMLNodeType

Overrides:

setValue in class AbstractNode

Parameters:

index - The index of destination field to set

value - The new value to use for the node

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

Throws:

InvalidFieldException - The field index is not know

InvalidFieldValueException - The value provided is not in range or not appropriate for this field