A B C D E F G H I L M N O P R S T U V

A

add(Angle) - Method in class sim.physics2D.util.Angle
Adds two angles and makes sure the result doesn't falls below 0 or above 2 P
add(double) - Method in class sim.physics2D.util.Angle
Adds two angles and makes sure the result doesn't falls below 0 or above 2 P
addBody(PhysicalObject2D) - Method in class sim.physics2D.PhysicsState
Adds a physical object to the system, expanding all state matrices and vectors to accomodate it.
addCollisionResponses(Bag) - Method in class sim.physics2D.constraint.ConstraintEngine
Solves for and adds collision responses to the colliding objects
addExternalForce(Double2D, int) - Method in class sim.physics2D.PhysicsState
Adds a force to an object's force accumulator in the external forces vector
addExternalTorque(double, int) - Method in class sim.physics2D.PhysicsState
Adds a torque to an object's torque accumulator in the external forces vector
addForce() - Method in interface sim.physics2D.forceGenerator.ForceGenerator
 
addForce(Double2D) - Method in class sim.physics2D.physicalObject.MobileObject2D
Apply a force to the MobileObject
addForceField(Double2D) - Method in class sim.physics2D.forceGenerator.ForceEngine
Adds a force that is applied to every object at every timestep.
addForces() - Method in class sim.physics2D.forceGenerator.ForceEngine
Causes all force generators that are registered with the dynamics engine to add their forces to the appropriate objects
addFrictionForce() - Method in class sim.physics2D.physicalObject.MobileObject2D
Calculates and adds the static and dynamic friction forces on the object based on the coefficients of friction.
addHolonomicConstraints() - Method in interface sim.physics2D.constraint.ForceConstraint
 
addHolonomicConstraints() - Method in class sim.physics2D.constraint.PinJoint
Used in resting contact calculations
AddPhysicalObject(PhysicalObject2D) - Method in class sim.physics2D.constraint.Collision
 
AddPhysicalObject(PhysicalObject2D, Double2D) - Method in class sim.physics2D.constraint.Collision
Add a physical object to the collision and specify the vector pointing from the center of the object to the collision point.
addTorque(double) - Method in class sim.physics2D.physicalObject.MobileObject2D
Apply a torque to the MobileObject
Angle - Class in sim.physics2D.util
Angle handles adding angles and ensuring that the result never gets above 2PI or below 0.
Angle(double) - Constructor for class sim.physics2D.util.Angle
 
applyImpulses(int, Vector) - Method in class sim.physics2D.constraint.Collision
Applies the calculated impulses to the objects involved in the collision
applyImpulses(int, Vector) - Method in interface sim.physics2D.constraint.ImpulseConstraint
 
applyImpulses(int, Vector) - Method in class sim.physics2D.constraint.PinJoint
 

B

backup() - Method in class sim.robot2D.Robot
 
backupCurrentPosition() - Method in class sim.physics2D.PhysicsState
Copies the "current state" vector into the "saved state" vector.
Block - Class in sim.util.matrix
 
Block(int, int, int, int, double[][]) - Constructor for class sim.util.matrix.Block
 
BlockSparseMatrix - Class in sim.util.matrix
 
BlockSparseMatrix(int, int) - Constructor for class sim.util.matrix.BlockSparseMatrix
 
BorderedDiagonalIdentityMatrix - Class in sim.util.matrix
 
BorderedDiagonalIdentityMatrix(int, int) - Constructor for class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
borderRows - Variable in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 

C

c1 - Variable in class sim.physics2D.util.PhysicalObjectPair
 
c2 - Variable in class sim.physics2D.util.PhysicalObjectPair
 
calcMaxDistances(boolean) - Method in class sim.physics2D.shape.Circle
Calculate the max distance a point can be from the center of the object.
calcMaxDistances(boolean) - Method in class sim.physics2D.shape.Rectangle
Calculate the max distance a point can be from the center of the object.
calcMaxDistances(boolean) - Method in class sim.physics2D.shape.Shape
Calculate the max distance a point can be from the center of the object.
calculateConstraintForces(Vector) - Method in class sim.physics2D.constraint.ConstraintEngine
Calculates the constraint forces based on the constraints and external forces currently in the system
Circle - Class in sim.physics2D.shape
The Circle class is used by a circular physical object to store the attributes of its appearance and size
Circle(double, Paint) - Constructor for class sim.physics2D.shape.Circle
 
clear() - Method in class sim.physics2D.collisionDetection.CollisionPair
 
clear() - Method in class sim.util.matrix.Vector
 
clearAllForces() - Method in class sim.physics2D.PhysicsState
Clears all forces and torques
clearForceField() - Method in class sim.physics2D.forceGenerator.ForceEngine
Clear all force fields
coefficientOfFriction - Variable in class sim.physics2D.physicalObject.MobileObject2D
 
coefficientOfRestitution - Variable in class sim.physics2D.physicalObject.PhysicalObject2D
 
coefficientOfStaticFriction - Variable in class sim.physics2D.physicalObject.MobileObject2D
 
Collision - Class in sim.physics2D.constraint
Created when a collision is detected between two objects and used to solve for the collision impulses.
Collision() - Constructor for class sim.physics2D.constraint.Collision
 
CollisionDetectionEngine - Class in sim.physics2D.collisionDetection
The CollisionDetectionEngine coordinates and abstracts the collision detection logic.
CollisionDetectionEngine() - Constructor for class sim.physics2D.collisionDetection.CollisionDetectionEngine
 
CollisionPair - Class in sim.physics2D.collisionDetection
CollisionPair represents a pair of objects that are currently colliding
CollisionPair(PhysicalObject2D, PhysicalObject2D) - Constructor for class sim.physics2D.collisionDetection.CollisionPair
 
coloffset - Variable in class sim.util.matrix.Block
 
ConstraintEngine - Class in sim.physics2D.constraint
The ConstraintEngine solves for constraint forces and impulses
copy() - Method in class sim.util.matrix.Vector
 
copyInto(Vector) - Method in class sim.util.matrix.Vector
 

D

DenseMatrix - Class in sim.util.matrix
 
DenseMatrix(int, int) - Constructor for class sim.util.matrix.DenseMatrix
 
DenseMatrix(double[][]) - Constructor for class sim.util.matrix.DenseMatrix
 
DiagonalMatrix - Class in sim.util.matrix
 
DiagonalMatrix(double[]) - Constructor for class sim.util.matrix.DiagonalMatrix
 
DiagonalMatrix(int) - Constructor for class sim.util.matrix.DiagonalMatrix
 
DiagonalMatrix(DenseMatrix) - Constructor for class sim.util.matrix.DiagonalMatrix
 
DILUSolve(Vector, double[]) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
DILUTransposeSolve(Vector, double[]) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
dot(Vector) - Method in class sim.util.matrix.Vector
 
draw(Object, Graphics2D, DrawInfo2D) - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Display the object
draw(Object, Graphics2D, DrawInfo2D) - Method in class sim.physics2D.shape.Circle
Display the circle
draw(Object, Graphics2D, DrawInfo2D) - Method in class sim.physics2D.shape.Polygon
Display the polygon
draw(Object, Graphics2D, DrawInfo2D) - Method in class sim.physics2D.shape.Shape
 

E

edges - Variable in class sim.physics2D.shape.Polygon
 
equals(Object) - Method in class sim.physics2D.util.PhysicalObjectPair
 

F

faceTowards(Angle) - Method in class sim.robot2D.Robot
 
ForceConstraint - Interface in sim.physics2D.constraint
Represents a constraint on objects' accelerations.
ForceEngine - Class in sim.physics2D.forceGenerator
The ForceEngine manages the application of forces and torques to objects.
ForceGenerator - Interface in sim.physics2D.forceGenerator
A ForceGenerator is anything that can apply a force to an object (i.e.

G

getAngle(Double2D) - Method in class sim.robot2D.Robot
Gives the angle of the vector (i.e.
getAngularVelocity() - Method in class sim.physics2D.physicalObject.MobileObject2D
How fast the object is rotating in radians per second.
getAngularVelocity() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
How fast the object is rotating in radians per second.
getAngularVelocity() - Method in class sim.physics2D.physicalObject.StationaryObject2D
How fast the object is rotating in radians per second.
getAngularVelocity(int) - Method in class sim.physics2D.PhysicsState
Returns an object's angular velocity
getBlocks() - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
getCoefficientOfFriction() - Method in class sim.physics2D.physicalObject.MobileObject2D
Positive value representing the coefficient of friction of the object with the background surface.
getCoefficientOfRestitution() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Represents the elasticity of an object 1 is perfectly elastic and 0 is perfectly inelastic.
getCoefficientOfStaticFriction() - Method in class sim.physics2D.physicalObject.MobileObject2D
Positive value representing the coefficient of static friction of the object with the background surface.
GetCollisionResponseRows() - Method in class sim.physics2D.constraint.Collision
Returns the number of rows in the collision response matrix
GetCollisionResponseRows() - Method in interface sim.physics2D.constraint.ImpulseConstraint
 
GetCollisionResponseRows() - Method in class sim.physics2D.constraint.PinJoint
 
getCollisions() - Method in class sim.physics2D.collisionDetection.CollisionDetectionEngine
Returns a list of the pairs of objects currently colliding.
getColPoint1() - Method in class sim.physics2D.collisionDetection.CollisionPair
Returns a vector pointing from the center of object 1 to the collision point
getColPoint2() - Method in class sim.physics2D.collisionDetection.CollisionPair
Returns a vector pointing from the center of object 2 to the collision point
GetConstraintRows() - Method in interface sim.physics2D.constraint.ForceConstraint
 
GetConstraintRows() - Method in class sim.physics2D.constraint.PinJoint
 
getDenseMatrix() - Method in class sim.util.matrix.BlockSparseMatrix
 
getDenseMatrix() - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
getDenseMatrix() - Method in class sim.util.matrix.DiagonalMatrix
 
getDenseMatrix() - Method in class sim.util.matrix.Vector
 
getDiagonalMatrix() - Method in class sim.util.matrix.BlockSparseMatrix
 
getDiagonalMatrix() - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
getDiagonalMatrix() - Method in class sim.util.matrix.DenseMatrix
 
getDiagonalMatrix() - Method in class sim.util.matrix.DiagonalMatrix
 
getDiagonalMatrix() - Method in class sim.util.matrix.Matrix
 
getEdges() - Method in class sim.physics2D.shape.Polygon
Returns a list of the normalized edges in a clockwise direction.
getExternalForce(int) - Method in class sim.physics2D.PhysicsState
Returns an object's force accumulator
getExternalForcesVector() - Method in class sim.physics2D.PhysicsState
Returns the external forces vector that holds the force and torque accumluators for every object in the system
getExternalTorque(int) - Method in class sim.physics2D.PhysicsState
Returns an object's torque accumulator
getForceAccumulator() - Method in class sim.physics2D.physicalObject.MobileObject2D
Returns a vector that represents a combination of all the forces applied to it
getHeight() - Method in class sim.physics2D.shape.Rectangle
 
getIndex() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Returns the object's index, which uniquely identifies the object and determines where its state variables are kept in the state vectors and matrices.
getInstance() - Static method in class sim.physics2D.constraint.ConstraintEngine
 
getInstance() - Static method in class sim.physics2D.forceGenerator.ForceEngine
 
getInstance() - Static method in class sim.physics2D.PhysicsState
Returns the current PhysicsState instance
getLastAngularVelocity(int) - Method in class sim.physics2D.PhysicsState
Returns an object's angular velocity 1 timestep ago
getLastOrientation(int) - Method in class sim.physics2D.PhysicsState
Returns an object's orientation 1 timestep ago
getLastPosition(int) - Method in class sim.physics2D.PhysicsState
Returns an object's last position 1 timestep ago
getLastVelocity(int) - Method in class sim.physics2D.PhysicsState
Returns an object's linear velocity one timestep ago
getMass() - Method in class sim.physics2D.physicalObject.MobileObject2D
Returns the object's mass
getMassInverse() - Method in class sim.physics2D.physicalObject.MobileObject2D
1 / mass.
getMassInverse() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
getMassInverse() - Method in class sim.physics2D.physicalObject.StationaryObject2D
1 / mass.
getMassInverse(int) - Method in class sim.physics2D.PhysicsState
Returns an object's mass inverse
getMassInverseMatrix() - Method in class sim.physics2D.PhysicsState
Returns the diagonal mass inverse matrix that contains the mass and mass moment of inertia inverses for all objects in the system
getMassMomentOfInertia(double) - Method in class sim.physics2D.shape.Circle
Calculates the mass moment of inertia for a circle based on its mass
getMassMomentOfInertia(double) - Method in class sim.physics2D.shape.Rectangle
Calculate the mass moment of intertia of the object.
getMassMomentOfInertia(double) - Method in class sim.physics2D.shape.Shape
Return the mass moment of inertia of this shape
getMassMomentOfInertiaInverse() - Method in class sim.physics2D.physicalObject.MobileObject2D
1 / massMomentOfInertia.
getMassMomentOfInertiaInverse() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
getMassMomentOfInertiaInverse() - Method in class sim.physics2D.physicalObject.StationaryObject2D
1 / mass moment of inertia.
getMassMomentOfInertiaInverse(int) - Method in class sim.physics2D.PhysicsState
Returns an object's mass moment inertia inverse
getMaxXDistanceFromCenter() - Method in class sim.physics2D.shape.Circle
 
getMaxXDistanceFromCenter() - Method in class sim.physics2D.shape.Polygon
 
getMaxXDistanceFromCenter() - Method in class sim.physics2D.shape.Shape
 
getMaxYDistanceFromCenter() - Method in class sim.physics2D.shape.Circle
 
getMaxYDistanceFromCenter() - Method in class sim.physics2D.shape.Polygon
 
getMaxYDistanceFromCenter() - Method in class sim.physics2D.shape.Shape
 
getNormal() - Method in class sim.physics2D.collisionDetection.CollisionPair
Returns the collision normal.
getNormals() - Method in class sim.physics2D.shape.Polygon
Returns a list of the unit normals in a clockwise direction.
getOrientation() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Returns an object's current orientation
getOrientation(int) - Method in class sim.physics2D.PhysicsState
Returns an object's orientation
getOrientation() - Method in class sim.physics2D.shape.Shape
 
getPaint() - Method in class sim.physics2D.shape.Shape
 
getPivots() - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
getPosition() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Returns an object's current position
getPosition(int) - Method in class sim.physics2D.PhysicsState
Returns an object's position
getPosition() - Method in class sim.physics2D.shape.Shape
 
getRadius() - Method in class sim.physics2D.shape.Circle
 
getRelativeVelocity() - Method in class sim.physics2D.collisionDetection.CollisionPair
Returns the relative velocity of the objects along the collision normal
getRow(int, DenseMatrix) - Static method in class sim.physics2D.shape.Polygon
Returns a row of the DenseMatrix rounded to integers
getSavedAngularVelocity(int) - Method in class sim.physics2D.PhysicsState
Returns an object's backed up angular velocity
getSavedOrientation(int) - Method in class sim.physics2D.PhysicsState
Returns an object's backed up orientation
getSavedPosition(int) - Method in class sim.physics2D.PhysicsState
Returns an object's backed up position.
getSavedVelocity(int) - Method in class sim.physics2D.PhysicsState
Returns an object's backed up linear velocity
getShape() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Returns an object's associated shape
getStateVector() - Method in class sim.physics2D.PhysicsState
Returns the state vector that contains the positions and velocities of all objects in the system
getStateVectorCopy() - Method in class sim.physics2D.PhysicsState
Returns a copy of the state vector
getSticky() - Method in class sim.physics2D.collisionDetection.CollisionPair
Returns a value indicated whether this is a sticky collision or not.
getSubMatrix(int[], int, int) - Method in class sim.util.matrix.DenseMatrix
 
getTorqueAccumulator() - Method in class sim.physics2D.physicalObject.MobileObject2D
Returns a number that represents a combination of all the torques applied to it
getVelocity() - Method in class sim.physics2D.physicalObject.MobileObject2D
Returns the object's velocity
getVelocity() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
getVelocity() - Method in class sim.physics2D.physicalObject.StationaryObject2D
Returns the velocity of the object.
getVelocity(int) - Method in class sim.physics2D.PhysicsState
Returns an object's linear velocity
getVertices() - Method in class sim.physics2D.shape.Polygon
Returns a list of the vertexes in a clockwise direction with positive Y pointing up (vs.
getWidth() - Method in class sim.physics2D.shape.Rectangle
 
globalFromLocal(Double2D) - Method in class sim.robot2D.Robot
 
goTo(Double2D) - Method in class sim.robot2D.Robot
 

H

halfPI - Static variable in class sim.physics2D.util.Angle
 
handleCollision(PhysicalObject2D, Double2D) - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Provides a default implementation for the function used by the collision detection engine to notify an object when it has collided with another object.
hashcode - Variable in class sim.physics2D.util.PhysicalObjectPair
 
hashCode() - Method in class sim.physics2D.util.PhysicalObjectPair
 

I

ImpulseConstraint - Interface in sim.physics2D.constraint
Represents a constraint on objects' velocities.
index - Variable in class sim.physics2D.physicalObject.PhysicalObject2D
 
index - Variable in class sim.physics2D.shape.Shape
 
initEdges() - Method in class sim.physics2D.shape.Polygon
Set up the edges DenseMatrix.
initEdges() - Method in class sim.physics2D.shape.Rectangle
Set up the edges matrix
initNormals() - Method in class sim.physics2D.shape.Polygon
Set up the normals DenseMatrix.
initNormals() - Method in class sim.physics2D.shape.Rectangle
Set up the normals matrix
initVertices() - Method in class sim.physics2D.shape.Polygon
Set up the vertices DenseMatrix.
initVertices() - Method in class sim.physics2D.shape.Rectangle
Set up the vertices matrix in homogenous coordinates

L

localFromGlobal(Double2D) - Method in class sim.robot2D.Robot
 

M

m - Variable in class sim.util.matrix.Block
 
m - Variable in class sim.util.matrix.Matrix
 
m - Variable in class sim.util.matrix.Vector
 
mass - Variable in class sim.physics2D.physicalObject.MobileObject2D
 
massMomentOfInertia - Variable in class sim.physics2D.physicalObject.MobileObject2D
 
Matrix - Class in sim.util.matrix
 
Matrix() - Constructor for class sim.util.matrix.Matrix
 
maxXDistanceFromCenter - Variable in class sim.physics2D.shape.Polygon
 
maxYDistanceFromCenter - Variable in class sim.physics2D.shape.Polygon
 
minus(DenseMatrix) - Method in class sim.util.matrix.DenseMatrix
 
minus(Vector) - Method in class sim.util.matrix.Vector
 
minus(Vector, Vector) - Method in class sim.util.matrix.Vector
 
MobileObject2D - Class in sim.physics2D.physicalObject
MobileObject2D represents a physical object that can move.
MobileObject2D() - Constructor for class sim.physics2D.physicalObject.MobileObject2D
 
moveForward(double) - Method in class sim.robot2D.Robot
 

N

n - Variable in class sim.util.matrix.Block
 
n - Variable in class sim.util.matrix.Matrix
 
normals - Variable in class sim.physics2D.shape.Polygon
 
numObjs() - Method in class sim.physics2D.PhysicsState
Returns the number of physical objects in the system

O

obj1 - Variable in class sim.physics2D.constraint.Collision
 
obj2 - Variable in class sim.physics2D.constraint.Collision
 
ODEEulerSolver - Class in sim.physics2D.integrator
Implements an Euler ordinary differential equation solver.
ODEEulerSolver() - Constructor for class sim.physics2D.integrator.ODEEulerSolver
 
ODERungeKuttaSolver - Class in sim.physics2D.integrator
Implements a Runge-Kutta ordinary differential equation solver.
ODERungeKuttaSolver() - Constructor for class sim.physics2D.integrator.ODERungeKuttaSolver
 
ODESolver - Interface in sim.physics2D.integrator
Represents the interface for ordinary differential equation solvers.

P

paint - Variable in class sim.physics2D.shape.Shape
 
PhysicalObject2D - Class in sim.physics2D.physicalObject
PhysicalObject2D is an abstract class representing objects that can be operated on by PhysicsEngine2D
PhysicalObject2D() - Constructor for class sim.physics2D.physicalObject.PhysicalObject2D
 
PhysicalObjectPair - Class in sim.physics2D.util
PhysicalObjectPair holds two physical objects that can be put into a hashtable.
PhysicalObjectPair(PhysicalObject2D, PhysicalObject2D) - Constructor for class sim.physics2D.util.PhysicalObjectPair
 
PhysicsEngine2D - Class in sim.physics2D
PhysicsEngine2D coordinates all the activities of the physics engine.
PhysicsEngine2D() - Constructor for class sim.physics2D.PhysicsEngine2D
 
physicsState - Variable in class sim.physics2D.physicalObject.PhysicalObject2D
 
PhysicsState - Class in sim.physics2D
PhysicsState holds the state of the physical objects in the system.
physObjs - Variable in class sim.physics2D.PhysicsState
 
PinJoint - Class in sim.physics2D.constraint
A PinJoint represents a point where two objects can not move relative to each other.
PinJoint(Double2D, PhysicalObject2D, PhysicalObject2D) - Constructor for class sim.physics2D.constraint.PinJoint
 
plus(DenseMatrix) - Method in class sim.util.matrix.DenseMatrix
 
plus(Vector) - Method in class sim.util.matrix.Vector
 
plus(Vector, Vector) - Method in class sim.util.matrix.Vector
 
Polygon - Class in sim.physics2D.shape
Polygons represents any convex multi-sided object.
Polygon(boolean) - Constructor for class sim.physics2D.shape.Polygon
 
Polygon() - Constructor for class sim.physics2D.shape.Polygon
 

R

radians - Variable in class sim.physics2D.util.Angle
 
Rectangle - Class in sim.physics2D.shape
Rectangle implementation of Polygon
Rectangle(double, double, Paint) - Constructor for class sim.physics2D.shape.Rectangle
 
Rectangle(double, double, Paint, boolean) - Constructor for class sim.physics2D.shape.Rectangle
 
register(PhysicalObject2D) - Method in class sim.physics2D.collisionDetection.CollisionDetectionEngine
Registers an object with the collision detection engine.
register(Object) - Method in class sim.physics2D.PhysicsEngine2D
Registers a physical object, force generator, or constraint with the physics engine.
registerForceConstraint(ForceConstraint) - Method in class sim.physics2D.constraint.ConstraintEngine
Registers a force constraint with the constraint engine
registerForceGenerator(ForceGenerator) - Method in class sim.physics2D.forceGenerator.ForceEngine
Registers a force generator with the force engine.
registerImpulseConstraint(ImpulseConstraint) - Method in class sim.physics2D.constraint.ConstraintEngine
Registers an impulse constraint with the constraint engine
registerMobileObject(MobileObject2D) - Method in class sim.physics2D.forceGenerator.ForceEngine
Registers a mobile object with the force generator.
removeNoCollisions(PhysicalObject2D, PhysicalObject2D) - Method in class sim.physics2D.constraint.ConstraintEngine
Turns collisions for a pair of objects back on
reset() - Static method in class sim.physics2D.constraint.ConstraintEngine
 
reset() - Static method in class sim.physics2D.forceGenerator.ForceEngine
 
reset() - Static method in class sim.physics2D.PhysicsState
Resets the PhysicsState
resetLastPose() - Method in class sim.physics2D.physicalObject.MobileObject2D
Move the object back to its previous location
resetLastPose() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
resetLastPose() - Method in class sim.physics2D.physicalObject.StationaryObject2D
 
restore() - Method in class sim.physics2D.PhysicsState
Restores the state of the object to the last time "backupCurrentPosition" was run.
restorePose() - Method in class sim.physics2D.physicalObject.MobileObject2D
Restores an object to its current location
restorePose() - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
restorePose() - Method in class sim.physics2D.physicalObject.StationaryObject2D
 
revertPosition() - Method in class sim.physics2D.PhysicsState
Sets the state of the objects to what they were at the end of the previous timestep.
Robot - Class in sim.robot2D
 
Robot() - Constructor for class sim.robot2D.Robot
 
rotationMatrix2D(double) - Static method in class sim.physics2D.shape.Polygon
Returns a DenseMatrix in homogenous coordinates to rotate a 2 dimensional rigid body given the angle theta (in radians)
rotationTranslationMatrix2D(double, Double2D) - Static method in class sim.physics2D.shape.Polygon
Returns a DenseMatrix in homogenous coordinates to rotate and translate a 2 dimensional rigid body given the angle theta (in radians) and a translation vector
rowoffset - Variable in class sim.util.matrix.Block
 

S

saveLastState() - Method in class sim.physics2D.PhysicsState
Copies the "current state" vector into the "last state" vector.
scale - Variable in class sim.physics2D.shape.Polygon
 
setAngularVelocity(double) - Method in class sim.physics2D.physicalObject.MobileObject2D
How fast the object is rotating in radians per second.
setAngularVelocity(double, int) - Method in class sim.physics2D.PhysicsState
Updates an object's angular velocity variable in the state vector
setBlock(int, int, double[][]) - Method in class sim.util.matrix.BlockSparseMatrix
 
setBlock(int, int, double[][]) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
setCoefficientOfFriction(double) - Method in class sim.physics2D.physicalObject.MobileObject2D
Positive value representing the coefficient of friction of the object with the background surface.
setCoefficientOfRestitution(double) - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Represents the elasticity of an object 1 is perfectly elastic and 0 is perfectly inelastic.
setCoefficientOfStaticFriction(double) - Method in class sim.physics2D.physicalObject.MobileObject2D
Positive value representing the coefficient of static friction of the object with the background surface.
setCollisionColsMatrix() - Method in class sim.physics2D.constraint.PinJoint
 
setCollisionMatrices(int, BorderedDiagonalIdentityMatrix, Vector) - Method in class sim.physics2D.constraint.Collision
Sets the blocks of the global matrices represented by this collision
setCollisionMatrices(int, BorderedDiagonalIdentityMatrix, Vector) - Method in interface sim.physics2D.constraint.ImpulseConstraint
 
setCollisionMatrices(int, BorderedDiagonalIdentityMatrix, Vector) - Method in class sim.physics2D.constraint.PinJoint
 
setColNormal(Double2D) - Method in class sim.physics2D.constraint.Collision
 
setConstraintMatrices(int, BlockSparseMatrix, BlockSparseMatrix, Vector, Vector) - Method in interface sim.physics2D.constraint.ForceConstraint
 
setConstraintMatrices(int, BlockSparseMatrix, BlockSparseMatrix, Vector, Vector) - Method in class sim.physics2D.constraint.PinJoint
 
setIndex(int) - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
setIndex(int) - Method in class sim.physics2D.shape.Shape
Tells the shape the index of its associated physical object.
setMass(double) - Method in class sim.physics2D.physicalObject.MobileObject2D
Sets an object's mass.
setMassInverse(double, double, int) - Method in class sim.physics2D.PhysicsState
Updates an object's mass inverse variables in the mass inverse matrix
setNoCollisions(PhysicalObject2D, PhysicalObject2D) - Method in class sim.physics2D.constraint.ConstraintEngine
Turns off collisions for a pair of objects
setNoCollisions(PhysicalObject2D, PhysicalObject2D) - Method in class sim.physics2D.PhysicsEngine2D
Turns off collision response for a pair of objects
setODESolver(ODESolver) - Method in class sim.physics2D.PhysicsEngine2D
Replace the default runge-kutta ODE integrator with a new one.
setOrientation(Angle, int) - Method in class sim.physics2D.PhysicsState
Updates an object's orientation variable in the state vector
setPaint(Paint) - Method in class sim.physics2D.shape.Shape
 
setPose(Double2D, Angle) - Method in class sim.physics2D.physicalObject.PhysicalObject2D
Set the pose of the object
setPosition(Double2D, int) - Method in class sim.physics2D.PhysicsState
Updates an object's position variables in the state vector
setRelVel(double) - Method in class sim.physics2D.constraint.Collision
Sets the relative velocity along the collision normal
setShape(Shape, double) - Method in class sim.physics2D.physicalObject.MobileObject2D
Set the shape of the object which determines how it is displayed, when it is colliding with another object, and how its mass moment of inertia is calculated
setShape(Shape) - Method in class sim.physics2D.physicalObject.StationaryObject2D
Set the shape of the object which determines how it is displayed and when it is colliding with another object
setStateVector(Vector) - Method in class sim.physics2D.PhysicsState
Updates the state vector
setSticky() - Method in class sim.physics2D.collisionDetection.CollisionPair
Indicates that this collision should be perfectly inelastic (so the objects lose all energy along the collision normal).
setSticky() - Method in class sim.physics2D.constraint.Collision
Set this collision to be perfectly inelastic
setSubMatrix(int, int, int, int, DenseMatrix) - Method in class sim.util.matrix.DenseMatrix
 
setVelocity(Double2D) - Method in class sim.physics2D.physicalObject.MobileObject2D
Updates the object's velocity
setVelocity(Double2D, int) - Method in class sim.physics2D.PhysicsState
Updates an object's linear velocity variables in the state vector
shape - Variable in class sim.physics2D.physicalObject.PhysicalObject2D
 
Shape - Class in sim.physics2D.shape
Each physical object has an associated shape.
Shape(boolean) - Constructor for class sim.physics2D.shape.Shape
 
Shape() - Constructor for class sim.physics2D.shape.Shape
 
sim.physics2D - package sim.physics2D
 
sim.physics2D.collisionDetection - package sim.physics2D.collisionDetection
 
sim.physics2D.constraint - package sim.physics2D.constraint
 
sim.physics2D.forceGenerator - package sim.physics2D.forceGenerator
 
sim.physics2D.integrator - package sim.physics2D.integrator
 
sim.physics2D.physicalObject - package sim.physics2D.physicalObject
 
sim.physics2D.shape - package sim.physics2D.shape
 
sim.physics2D.util - package sim.physics2D.util
 
sim.robot2D - package sim.robot2D
 
sim.util.matrix - package sim.util.matrix
 
solve(double) - Method in class sim.physics2D.integrator.ODEEulerSolver
 
solve(double) - Method in class sim.physics2D.integrator.ODERungeKuttaSolver
 
solve(double) - Method in interface sim.physics2D.integrator.ODESolver
 
solve(DenseMatrix) - Method in class sim.util.matrix.DenseMatrix
 
solve(Vector) - Method in class sim.util.matrix.DiagonalMatrix
 
solve(Vector, Vector) - Method in class sim.util.matrix.DiagonalMatrix
 
solveBiConjugateGradient(BorderedDiagonalIdentityMatrix, Vector, Vector, int, double, boolean) - Static method in class sim.util.matrix.Matrix
 
solveBiConjugateGradient(Matrix, DiagonalMatrix, DiagonalMatrix, Vector, Vector, int, double) - Static method in class sim.util.matrix.Matrix
 
stationary - Variable in class sim.physics2D.shape.Shape
 
StationaryObject2D - Class in sim.physics2D.physicalObject
StationaryObject2D represents a physical object that can't move.
StationaryObject2D() - Constructor for class sim.physics2D.physicalObject.StationaryObject2D
 
step(SimState) - Method in class sim.physics2D.PhysicsEngine2D
 
stop() - Method in class sim.robot2D.Robot
 

T

testNoCollisions(PhysicalObject2D, PhysicalObject2D) - Method in class sim.physics2D.constraint.ConstraintEngine
Tests whether collisions between a pair of objects is currently turned off
times(Vector) - Method in class sim.util.matrix.BlockSparseMatrix
 
times(Vector, Vector) - Method in class sim.util.matrix.BlockSparseMatrix
 
times(Vector) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
times(Vector, Vector) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
times(Vector) - Method in class sim.util.matrix.DenseMatrix
 
times(DenseMatrix) - Method in class sim.util.matrix.DenseMatrix
 
times(Vector, Vector) - Method in class sim.util.matrix.DenseMatrix
 
times(double) - Method in class sim.util.matrix.DenseMatrix
 
times(Vector) - Method in class sim.util.matrix.DiagonalMatrix
 
times(Vector, Vector) - Method in class sim.util.matrix.DiagonalMatrix
 
times(Vector) - Method in class sim.util.matrix.Matrix
 
times(Vector, Vector) - Method in class sim.util.matrix.Matrix
 
times(double) - Method in class sim.util.matrix.Vector
 
times(double, Vector) - Method in class sim.util.matrix.Vector
 
toString() - Method in class sim.util.matrix.BlockSparseMatrix
 
toString() - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
toString() - Method in class sim.util.matrix.DenseMatrix
 
toString() - Method in class sim.util.matrix.DiagonalMatrix
 
toString() - Method in class sim.util.matrix.Vector
 
transpose() - Method in class sim.util.matrix.DenseMatrix
 
transposeTimes(Vector) - Method in class sim.util.matrix.BlockSparseMatrix
 
transposeTimes(Vector, Vector) - Method in class sim.util.matrix.BlockSparseMatrix
 
transposeTimes(Vector) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
transposeTimes(Vector, Vector) - Method in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
transposeTimes(Vector) - Method in class sim.util.matrix.DenseMatrix
 
transposeTimes(Vector, Vector) - Method in class sim.util.matrix.DenseMatrix
 
transposeTimes(Vector, Vector) - Method in class sim.util.matrix.DiagonalMatrix
 
transposeTimes(Vector) - Method in class sim.util.matrix.DiagonalMatrix
 
transposeTimes(Vector) - Method in class sim.util.matrix.Matrix
 
transposeTimes(Vector, Vector) - Method in class sim.util.matrix.Matrix
 
twoPI - Static variable in class sim.physics2D.util.Angle
 

U

unRegister(Object) - Method in class sim.physics2D.PhysicsEngine2D
Removes a constraint
unRegisterForceConstraint(ForceConstraint) - Method in class sim.physics2D.constraint.ConstraintEngine
Un-registers a force constraint with the constraint engine
unRegisterImpulseConstraint(ImpulseConstraint) - Method in class sim.physics2D.constraint.ConstraintEngine
Un-registers an impulse constraint with the constraint engine
updatePose(double) - Method in class sim.physics2D.physicalObject.MobileObject2D
Updates the pose to where the object would be in only a percentage of a time step.
updatePose(double) - Method in class sim.physics2D.physicalObject.PhysicalObject2D
 
updatePose(double) - Method in class sim.physics2D.physicalObject.StationaryObject2D
 

V

vals - Variable in class sim.util.matrix.Block
 
vals - Variable in class sim.util.matrix.BorderedDiagonalIdentityMatrix
 
vals - Variable in class sim.util.matrix.DenseMatrix
 
vals - Variable in class sim.util.matrix.DiagonalMatrix
 
vals - Variable in class sim.util.matrix.Vector
 
Vector - Class in sim.util.matrix
 
Vector(double[]) - Constructor for class sim.util.matrix.Vector
 
Vector(int) - Constructor for class sim.util.matrix.Vector
 
Vector(DenseMatrix) - Constructor for class sim.util.matrix.Vector
 
vertices - Variable in class sim.physics2D.shape.Polygon
 

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