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

Class BaseSingleAxisHingeJoint

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.BaseSingleAxisHingeJoint

All Implemented Interfaces:

VRMLNode, FrameStateListener, VRMLNodeType, VRMLRigidJointNodeType

Direct Known Subclasses:

NRSingleAxisHingeJoint, OGLSingleAxisHingeJoint

public abstract class BaseSingleAxisHingeJoint
extends BaseJointNode

Implementation of the SingleAxisHingeJoint node.

Version:

$Revision: 1.8 $

Author:

Justin Couch

Field Summary

Fields

Modifier and Type	Field	Description
protected static final String	BOUNCE_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_ANGLE	The field index for angle
protected static final int	FIELD_ANGLE_RATE	The field index for angleRate
protected static final int	FIELD_AXIS	The field index for Axis
protected static final int	FIELD_BODY1_ANCHOR_POINT	The field index for body1AnchorPoint
protected static final int	FIELD_BODY2_ANCHOR_POINT	The field index for body2AnchorPoint
protected static final int	FIELD_MAX_ANGLE	The field index for maxAngle
protected static final int	FIELD_MIN_ANGLE	The field index for minAngle
protected static final int	FIELD_STOP_BOUNCE	The field index for stopBounce
protected static final int	FIELD_STOP_ERROR_CORRECTION	The field index for stopErrorCorrection
protected static final int	LAST_INDEX	Last index used by this base node
protected static final String	MAX_ANGLE_MSG	Message when the stopBounce value is out of range
protected static final String	MIN_ANGLE_MSG	Message when the stopBounce value is out of range
protected org.odejava.JointHinge	odeJoint	The ODE representation of the joint
protected static final String	STOP_ERROR_RANGE_MSG	Message when the stopBounce value is out of range
protected float[]	vfAnchorPoint	The value of the anchorPoint field
protected float	vfAngle	The value of the angle field
protected float	vfAngleRate	The value of the angleRate field
protected float[]	vfAxis	The value of the Axis field
protected float[]	vfBody1AnchorPoint	The value of the body1AnchorPoint field
protected float[]	vfBody2AnchorPoint	The value of the body1AnchorPoint field
protected float	vfMaxAngle	The value of the maxAngle field
protected float	vfMinAngle	The value of the minAngle field
protected float	vfStopBounce	The value of the stopBounce field
protected float	vfStopErrorCorrection	The value of the stopErrorCorrection 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
BaseSingleAxisHingeJoint()	Construct a new default single-axis joint node object.
BaseSingleAxisHingeJoint(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_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_AXIS

protected static final int FIELD_AXIS

The field index for Axis

See Also:

• Constant Field Values

FIELD_MIN_ANGLE

protected static final int FIELD_MIN_ANGLE

The field index for minAngle

See Also:

• Constant Field Values

FIELD_MAX_ANGLE

protected static final int FIELD_MAX_ANGLE

The field index for maxAngle

See Also:

• Constant Field Values

FIELD_ANGLE

protected static final int FIELD_ANGLE

The field index for angle

See Also:

• Constant Field Values

FIELD_ANGLE_RATE

protected static final int FIELD_ANGLE_RATE

The field index for angleRate

See Also:

• Constant Field Values

FIELD_STOP_BOUNCE

protected static final int FIELD_STOP_BOUNCE

The field index for stopBounce

See Also:

• Constant Field Values

FIELD_STOP_ERROR_CORRECTION

protected static final int FIELD_STOP_ERROR_CORRECTION

The field index for stopErrorCorrection

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_ANGLE_MSG

protected static final String MIN_ANGLE_MSG

Message when the stopBounce value is out of range

See Also:

• Constant Field Values

MAX_ANGLE_MSG

protected static final String MAX_ANGLE_MSG

Message when the stopBounce value is out of range

See Also:

• Constant Field Values

BOUNCE_RANGE_MSG

protected static final String BOUNCE_RANGE_MSG

Message when the stopBounce value is out of range

See Also:

• Constant Field Values

STOP_ERROR_RANGE_MSG

protected static final String STOP_ERROR_RANGE_MSG

Message when the stopBounce value 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

vfAxis

protected float[] vfAxis

The value of the Axis field

vfMinAngle

protected float vfMinAngle

The value of the minAngle field

vfMaxAngle

protected float vfMaxAngle

The value of the maxAngle field

vfAngle

protected float vfAngle

The value of the angle field

vfAngleRate

protected float vfAngleRate

The value of the angleRate field

vfStopBounce

protected float vfStopBounce

The value of the stopBounce field

vfStopErrorCorrection

protected float vfStopErrorCorrection

The value of the stopErrorCorrection field

odeJoint

protected org.odejava.JointHinge odeJoint

The ODE representation of the joint

Constructor Details

BaseSingleAxisHingeJoint

public BaseSingleAxisHingeJoint()

Construct a new default single-axis joint node object.

BaseSingleAxisHingeJoint

public BaseSingleAxisHingeJoint(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