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jsode module

jsode is a module that manages support to ODE. ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles, objects in virtual reality environments and virtual creatures. It is currently used in many computer games, 3D authoring tools and simulation tools.

note:

In the following API description, _vec3 type is a js 3 dimentions _Array like [1,3,5]

• jsode module
• class jsode::World
• constructor
• Methods
• Destroy
• Step
• Properties
• gravity
• real
• env
• ???
• class jsode::Body
• constructor
• Methods
• Destroy
• Properties
• vector
• mass
• Native Interface
• class jsode::Geom
• Methods
• Destroy
• Properties
• enable
• body
• offset
• tansformation
• position
• Callback functions
• Native Interface
• class jsode:: jsode::Geom
• constructor
• Properties
• lengths
• class jsode:: jsode::Geom
• constructor
• Properties
• radius
• length
• class jsode:: jsode::Geom
• constructor
• class jsode:: jsode::Geom
• constructor
• length
• start
• direction
• class jsode:: jsode::Geom
• constructor
• Properties
• radius
• class jsode:: jsode::Geom
• constructor
• class jsode::Joint
• Methods
• Destroy
• Properties
• body1
• body2
• useFeedback
• feedbackVector
• jointParam
• class jsode:: jsode::Joint
• constructor
• Properties
• anchor
• anchor2
• class jsode:: jsode::Joint
• constructor
• Methods
• Set
• class jsode:: jsode::Joint
• Methods
• constructor
• Properties
• anchor
• anchor2
• axis
• angle
• angleRate
• class jsode:: jsode::Joint
• constructor
• class jsode:: jsode::Joint
• constructor
• Properties
• axis
• position
• positionRate
• class jsode::Mass
• Methods
• Translate
• Adjust
• Properties
• value
• center
• class jsode::Space
• constructor
• class jsode::
• constructor
• Properties
• surface

class jsode::World

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constructor

constructor()

dWorldCreate

note:

This function creates also a Space (space) object and a SurfaceParameters object (defaultSurfaceParameters).

Methods

Destroy

Destroy()

TBD

Step

Step( time [, iterations] )

note:

If the iterations argument is given, this uses an iterative method that takes time on the order of m*N and memory on the order of m, where m is the total number of constraint rows and N is the number of iterations.

Properties

gravity

_vec3 gravity

Gets or sets the gravity vector for a given world.

real

_real ERP

dWorldGetERP

• _real CFM

dWorldGetCFM

• _real contactSurfaceLayer

dWorldGetContactSurfaceLayer

env

_Body env

Returns the environment object that is the fixed body of this world (like the ground).

???

• efaultSurfaceParameters

This defines the default properties of the colliding grometries surfaces.

The property is read-only but not i'ts content.

• space

This is the default space object that is bound to the world.

class jsode::Body

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constructor

constructor( world )

TBD

Methods

Destroy

_void Destroy()

TBD dBodyDestroy

IsConnectedTo

_boolean IsConnectedTo( body )

TBD dAreConnected

Properties

vector

_vec3 position

dBodySetPosition

• _vec4 quaternion

dBodySetQuaternion

• _vec3 linearVel

dBodySetLinearVel

• _vec3 angularVel

dBodySetAngularVel

• _vec3 force

dBodySetForce

• _vec3 torque

dBodySetTorque

mass

mass

Is the mass object (jsode::Mass) of the body.

Native Interface

• NIMatrix44Read

Is the current body's position.

class jsode::Geom

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Methods

Destroy

• estroy()

dGeomSetData NULL, dGeomDestroy

Properties

enable

_boolean enable

Is the status of the geometry.

body

_body body

Bind the current geometry to the given body object.

offset

• ffset

Sets the position and rotation of the geometry to its center of mass.

Use undefined value to reset the geometry offset.

tansformation

• ansformation

Sets the position and rotation of the geometry to its center of mass.

position

_vec3 position

Is the current position of the geometry.

Callback functions

• impact(index, thisGeom, againstGeom, position);

This function is called each time two geometries collide together. index is the index of the collision between step and step+1.

thisGeom is the geometry that is colliding (usualy, this object).

againstGeom is the geometry against with this geometry is colliding (the other Geom).

_vec3 position is the position of the impact point in world position.

Native Interface

• NIMatrix44Read

Is the current geometry's position.

class jsode::GeomBox^jsode::Geom

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constructor

constructor( space )

TBD

Properties

lengths

_vec3 lengths

Is the x, y, z size of the box.

class jsode::GeomCapsule^jsode::Geom

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constructor

constructor( space )

TBD

Properties

radius

_real radius

TBD

length

_real length

Is the length of the capsule.

class jsode::GeomPlane^jsode::Geom

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constructor

constructor( space )

TBD

class jsode::GeomRay^jsode::Geom

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constructor

constructor( space )

TBD

length

_real length

TBD

start

_vec3 start

TBD

direction

_vec3 direction

TBD

class jsode::GeomSphere^jsode::Geom

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constructor

constructor( space )

TBD

Properties

radius

_real radius

class jsode::GeomTrimesh^jsode::Geom

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constructor

constructor( space )

TBD

class jsode::Joint

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Methods

Destroy

Destroy()

TBD

Properties

body1

_Body body1

Set the first body of the joint.

body2

_Body body2

Set the second body of the joint.

useFeedback

_boolean useFeedback

Set to true activates the feedback, and ALSE to desactivates it.

Using feedback will allows body1Force, body1Torque, body2Force and body2Torque to be used.

feedbackVector

_vec3 body1Force

Is the current force vector that applies to the body1 if feedback is activated.

• _vec3 body1Torque

Is the current torque vector that applies to the body1 if feedback is activated.

• _vec3 body2Force

Is the current force vector that applies to the body2 if feedback is activated.

• _vec3 body2Torque

Is the current torque vector that applies to the body2 if feedback is activated.

jointParam

_real loStop

• _real hiStop

• _real bounce

• _real CFM

• _real stopERP

• _real stopCFM

• _real velocity

• _real maxForce

class jsode::JointBall^jsode::Joint

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constructor

constructor( world )

Properties

anchor

_vec3 anchor

anchor2

_vec3 anchor2

class jsode::JointFixed^jsode::Joint

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constructor

constructor( world )

Methods

Set

Set()

Set the current position of body1 and body2 as fixed.

class jsode::JointHinge^jsode::Joint

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Methods

constructor

constructor( world )

TBD

AddTorque

_void AddTorque( torque )

TBD

Properties

anchor

_vec3 anchor

TBD

anchor2

_vec3 anchor2

TBD

axis

_vec3 axis

Get or set the axis of the joint.

angle

_real angle

Get the current angle.

angleRate

_real angleRate

Get the current rotation speed.

class jsode::JointPlane^jsode::Joint

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constructor

constructor( world )

TBD

class jsode::JointSlider^jsode::Joint

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constructor

constructor( world )

TBD

Properties

axis

_vec3 axis

TBD

position

_real position

TBD

positionRate

_real positionRate

TBD

class jsode::Mass

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Methods

Translate

_void Translate( vec3 )

TBD dMassTranslate + dBodySetMass

Adjust

_void Adjust( mass )

TBD dBodyGetMass, dMassAdjust, dBodySetMass

SetZero

_void SetZero()

TBD dBodyGetMass, dMassSetZero, dBodySetMass

SetBoxTotal

SetBoxTotal( mass, vec3 )

TBD dBodyGetMass, dMassSetBoxTotal, dBodySetMass

Properties

value

_real value

TBD dBodyGetMass, dBodySetMass

center

_vec3 center

TBD dBodyGetMass, dBodySetMass get/set a vec3

class jsode::Space

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constructor

constructor( parentSpace )

class jsode::SurfaceParameters

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constructor

constructor()

note:

by default, mu is set to Infinity.

Properties

surface

• _real mu

Coulomb friction coefficient. This must be in the range 0 to dInfinity. 0 results in a frictionless contact, and dInfinity results in a contact that never slips. Note that frictionless contacts are less time consuming to compute than ones with friction, and infinite friction contacts can be cheaper than contacts with finite friction. This must always be set.

• _real mu2

Optional Coulomb friction coefficient for friction direction 2 (0..dInfinity).

• _real bounce

Restitution parameter (0..1). 0 means the surfaces are not bouncy at all, 1 is maximum bouncyness.

• _real bounceVel

The minimum incoming velocity necessary for bounce. Incoming velocities below this will effectively have a bounce parameter of 0.

• _real softERP

Contact normal "softness" parameter.

• _real softCFM

Contact normal "softness" parameter.

• _real motion1, _real motion2, _real motionN

Surface velocity in friction directions 1 and 2 and along the normal.

• _real slip1, _real slip2

The coefficients of force-dependent-slip (FDS) for friction directions 1 and 2.

note:

Use undefined as value to reset the property.

ODE API:

dSurfaceParameters

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