BowlerKernel
Public Member Functions | Private Attributes | List of all members
com.neuronrobotics.bowlerstudio.physics.PhysicsCore Class Reference
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Public Member Functions

 PhysicsCore () throws Exception
 
BroadphaseInterface getBroadphase ()
 
void setBroadphase (BroadphaseInterface broadphase)
 
DefaultCollisionConfiguration getCollisionConfiguration ()
 
void setCollisionConfiguration (DefaultCollisionConfiguration collisionConfiguration)
 
CollisionDispatcher getDispatcher ()
 
void setDispatcher (CollisionDispatcher dispatcher)
 
SequentialImpulseConstraintSolver getSolver ()
 
void setSolver (SequentialImpulseConstraintSolver solver)
 
DiscreteDynamicsWorld getDynamicsWorld ()
 
void setDynamicsWorld (DiscreteDynamicsWorld dynamicsWorld)
 
CollisionShape getGroundShape ()
 
void setGroundShape (CollisionShape cs)
 
ArrayList< IPhysicsManager > getPhysicsObjects ()
 
void setDamping (float lin_damping, float ang_damping)
 
void setSleepingThresholds (float linearSleepThreshhold, float angularSleepThreshhold)
 
void setDeactivationTime (float deactivationTime)
 
void setObjects (ArrayList< IPhysicsManager > objects)
 
void startPhysicsThread (int ms)
 
ArrayList< CSG > getCsgFromEngine ()
 
void stopPhysicsThread ()
 
void step (float timeStep)
 
void stepMs (double timeStep)
 
void add (IPhysicsManager manager)
 
void remove (IPhysicsManager manager)
 
void clear ()
 
int getSimulationSubSteps ()
 
float getDeactivationTime ()
 
void setSimulationSubSteps (int simpulationSubSteps)
 
float getLin_damping ()
 
float getAng_damping ()
 
float getLinearSleepThreshhold ()
 
float getAngularSleepThreshhold ()
 

Private Attributes

BroadphaseInterface broadphase = new DbvtBroadphase()
 
DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration()
 
CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration)
 
SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver()
 
DiscreteDynamicsWorld dynamicsWorld
 
CollisionShape groundShape = null
 
ArrayList< IPhysicsManager > objects = new ArrayList<>()
 
RigidBody groundRigidBody
 
boolean runEngine = false
 
int msTime = 16
 
Thread physicsThread = null
 
int simulationSubSteps = 5
 
float lin_damping
 
float ang_damping
 
float linearSleepThreshhold
 
float angularSleepThreshhold
 
float deactivationTime
 

Detailed Description

Definition at line 28 of file PhysicsCore.java.

Constructor & Destructor Documentation

◆ PhysicsCore()

com.neuronrobotics.bowlerstudio.physics.PhysicsCore.PhysicsCore ( ) throws Exception

Definition at line 56 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.PhysicsGravityScalar, and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setGroundShape().

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Member Function Documentation

◆ add()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.add ( IPhysicsManager  manager)

Definition at line 224 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.IPhysicsManager.getFallRigidBody(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects().

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), and com.neuronrobotics.bowlerstudio.physics.HingeCSGPhysicsManager.update().

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◆ clear()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.clear ( )

Definition at line 264 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.msTime, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stopPhysicsThread(), and com.neuronrobotics.sdk.util.ThreadUtil.wait().

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◆ getAng_damping()

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getAng_damping ( )

Definition at line 302 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.ang_damping.

◆ getAngularSleepThreshhold()

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getAngularSleepThreshhold ( )

Definition at line 310 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.angularSleepThreshhold.

◆ getBroadphase()

BroadphaseInterface com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getBroadphase ( )

Definition at line 64 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.broadphase.

◆ getCollisionConfiguration()

DefaultCollisionConfiguration com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getCollisionConfiguration ( )

Definition at line 72 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.collisionConfiguration.

◆ getCsgFromEngine()

ArrayList<CSG> com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getCsgFromEngine ( )

Definition at line 183 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects().

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsEngine.getCsgFromEngine().

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◆ getDeactivationTime()

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDeactivationTime ( )

Definition at line 290 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.deactivationTime.

◆ getDispatcher()

CollisionDispatcher com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDispatcher ( )

Definition at line 80 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dispatcher.

◆ getDynamicsWorld()

DiscreteDynamicsWorld com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld ( )

Definition at line 96 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dynamicsWorld.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.add(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.clear(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.PhysicsCore(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.remove(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setGroundShape(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.step(), and com.neuronrobotics.bowlerstudio.physics.VehicleCSGPhysicsManager.VehicleCSGPhysicsManager().

◆ getGroundShape()

CollisionShape com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getGroundShape ( )

Definition at line 104 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.groundShape.

◆ getLin_damping()

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getLin_damping ( )

Definition at line 298 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.lin_damping.

◆ getLinearSleepThreshhold()

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getLinearSleepThreshhold ( )

Definition at line 306 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.linearSleepThreshhold.

◆ getPhysicsObjects()

ArrayList<IPhysicsManager> com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects ( )

Definition at line 126 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.objects.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.add(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.clear(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getCsgFromEngine(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.remove(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDamping(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDeactivationTime(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSleepingThresholds(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.step().

◆ getSimulationSubSteps()

int com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getSimulationSubSteps ( )

Definition at line 286 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.simulationSubSteps.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.step().

◆ getSolver()

SequentialImpulseConstraintSolver com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getSolver ( )

Definition at line 88 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.solver.

◆ remove()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.remove ( IPhysicsManager  manager)

Definition at line 244 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects().

Referenced by com.neuronrobotics.bowlerstudio.physics.HingeCSGPhysicsManager.update().

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◆ setBroadphase()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setBroadphase ( BroadphaseInterface  broadphase)

Definition at line 68 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.broadphase.

◆ setCollisionConfiguration()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setCollisionConfiguration ( DefaultCollisionConfiguration  collisionConfiguration)

Definition at line 76 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.collisionConfiguration.

◆ setDamping()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDamping ( float  lin_damping,
float  ang_damping 
)

Definition at line 130 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.ang_damping, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.lin_damping.

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◆ setDeactivationTime()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDeactivationTime ( float  deactivationTime)

Definition at line 146 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.deactivationTime, and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects().

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◆ setDispatcher()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDispatcher ( CollisionDispatcher  dispatcher)

Definition at line 84 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dispatcher.

◆ setDynamicsWorld()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDynamicsWorld ( DiscreteDynamicsWorld  dynamicsWorld)

Definition at line 100 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dynamicsWorld.

◆ setGroundShape()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setGroundShape ( CollisionShape  cs)

Definition at line 108 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dynamicsWorld, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.groundRigidBody, and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.groundShape.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.PhysicsCore().

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◆ setObjects()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setObjects ( ArrayList< IPhysicsManager >  objects)

Definition at line 153 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.objects.

◆ setSimulationSubSteps()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSimulationSubSteps ( int  simpulationSubSteps)

Definition at line 294 of file PhysicsCore.java.

◆ setSleepingThresholds()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSleepingThresholds ( float  linearSleepThreshhold,
float  angularSleepThreshhold 
)

Definition at line 138 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.angularSleepThreshhold, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.linearSleepThreshhold.

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◆ setSolver()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSolver ( SequentialImpulseConstraintSolver  solver)

Definition at line 92 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.solver.

◆ startPhysicsThread()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.startPhysicsThread ( int  ms)

Definition at line 157 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.msTime, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.physicsThread, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.runEngine, com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stepMs(), and com.neuronrobotics.sdk.util.ThreadUtil.wait().

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◆ step()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.step ( float  timeStep)

Definition at line 198 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.TransformFactory.bulletToAffine(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getSimulationSubSteps().

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stepMs().

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◆ stepMs()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stepMs ( double  timeStep)

Definition at line 220 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.step().

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.startPhysicsThread().

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◆ stopPhysicsThread()

void com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stopPhysicsThread ( )

Definition at line 193 of file PhysicsCore.java.

References com.neuronrobotics.bowlerstudio.physics.PhysicsCore.physicsThread, and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.runEngine.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.clear().

Member Data Documentation

◆ ang_damping

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.ang_damping
private

Definition at line 51 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getAng_damping(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDamping().

◆ angularSleepThreshhold

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.angularSleepThreshhold
private

Definition at line 53 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getAngularSleepThreshhold(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSleepingThresholds().

◆ broadphase

BroadphaseInterface com.neuronrobotics.bowlerstudio.physics.PhysicsCore.broadphase = new DbvtBroadphase()
private

Definition at line 30 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getBroadphase(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setBroadphase().

◆ collisionConfiguration

DefaultCollisionConfiguration com.neuronrobotics.bowlerstudio.physics.PhysicsCore.collisionConfiguration = new DefaultCollisionConfiguration()
private

Definition at line 31 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getCollisionConfiguration(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setCollisionConfiguration().

◆ deactivationTime

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.deactivationTime
private

Definition at line 54 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDeactivationTime(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDeactivationTime().

◆ dispatcher

CollisionDispatcher com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dispatcher = new CollisionDispatcher(collisionConfiguration)
private

Definition at line 32 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDispatcher(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDispatcher().

◆ dynamicsWorld

DiscreteDynamicsWorld com.neuronrobotics.bowlerstudio.physics.PhysicsCore.dynamicsWorld
private
Initial value:
= new DiscreteDynamicsWorld(dispatcher, broadphase,
solver,
collisionConfiguration)
com.neuronrobotics.bowlerstudio.physics.PhysicsCore.collisionConfiguration
DefaultCollisionConfiguration collisionConfiguration
Definition: PhysicsCore.java:31
com.neuronrobotics.bowlerstudio.physics.PhysicsCore.solver
SequentialImpulseConstraintSolver solver
Definition: PhysicsCore.java:34

Definition at line 36 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getDynamicsWorld(), com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDynamicsWorld(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setGroundShape().

◆ groundRigidBody

RigidBody com.neuronrobotics.bowlerstudio.physics.PhysicsCore.groundRigidBody
private

Definition at line 43 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setGroundShape().

◆ groundShape

CollisionShape com.neuronrobotics.bowlerstudio.physics.PhysicsCore.groundShape = null
private

Definition at line 40 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getGroundShape(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setGroundShape().

◆ lin_damping

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.lin_damping
private

Definition at line 50 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getLin_damping(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setDamping().

◆ linearSleepThreshhold

float com.neuronrobotics.bowlerstudio.physics.PhysicsCore.linearSleepThreshhold
private

Definition at line 52 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getLinearSleepThreshhold(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSleepingThresholds().

◆ msTime

int com.neuronrobotics.bowlerstudio.physics.PhysicsCore.msTime = 16
private

Definition at line 46 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.clear(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.startPhysicsThread().

◆ objects

ArrayList<IPhysicsManager> com.neuronrobotics.bowlerstudio.physics.PhysicsCore.objects = new ArrayList<>()
private

Definition at line 42 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getPhysicsObjects(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setObjects().

◆ physicsThread

Thread com.neuronrobotics.bowlerstudio.physics.PhysicsCore.physicsThread = null
private

Definition at line 48 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.startPhysicsThread(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stopPhysicsThread().

◆ runEngine

boolean com.neuronrobotics.bowlerstudio.physics.PhysicsCore.runEngine = false
private

Definition at line 45 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.startPhysicsThread(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.stopPhysicsThread().

◆ simulationSubSteps

int com.neuronrobotics.bowlerstudio.physics.PhysicsCore.simulationSubSteps = 5
private

Definition at line 49 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getSimulationSubSteps().

◆ solver

SequentialImpulseConstraintSolver com.neuronrobotics.bowlerstudio.physics.PhysicsCore.solver = new SequentialImpulseConstraintSolver()
private

Definition at line 34 of file PhysicsCore.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.PhysicsCore.getSolver(), and com.neuronrobotics.bowlerstudio.physics.PhysicsCore.setSolver().

The documentation for this class was generated from the following file:
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