Classes
class	Helper

Static Public Member Functions
static synchronized void	forceLoad ()
static native int	initialize ()
static native long	createWorld (double fixedDtSeconds, boolean enableGravity)
static native void	destroyWorld (long worldHandle)
static native int	createBody (long worldHandle, double massKg)
static native int	createGamepiece (long worldHandle)
static native int	createGamepiece (long worldHandle, double radiusMeters, double massKg, double restitution)
static native int	createGamepieceWithType (long worldHandle, int type, double radiusMeters, double massKg, double restitution)
static native int	createGamepieceWithTypeName (long worldHandle, String typeName, double radiusMeters, double massKg, double restitution)
static native String	getGamepieceTypeName (long worldHandle, int gamepieceIndex)
static native int	setBodyPosition (long worldHandle, int bodyIndex, double xMeters, double yMeters, double zMeters)
static native int	setBodyLinearVelocity (long worldHandle, int bodyIndex, double vxMps, double vyMps, double vzMps)
static native int	setBodyOrientation (long worldHandle, int bodyIndex, double qw, double qx, double qy, double qz)
static native int	setBodyGravityEnabled (long worldHandle, int bodyIndex, boolean enabled)
static native int	setBodyMaterial (long worldHandle, int bodyIndex, double restitution, double frictionKinetic, double frictionStatic, double collisionDamping)
static native int	setBodyMaterialId (long worldHandle, int bodyIndex, int materialId)
static native int	setBodyCollisionFilter (long worldHandle, int bodyIndex, int collisionLayerBits, int collisionMaskBits)
static native int	setBodyAerodynamicSphere (long worldHandle, int bodyIndex, double radiusMeters, double dragCoefficient)
static native int	setBodyAerodynamicBox (long worldHandle, int bodyIndex, double xMeters, double yMeters, double zMeters, double dragCoefficient)
static native int	pickGamepiece (long worldHandle, int gamepieceIndex, double intakeX, double intakeY, double intakeZ, double captureRadius, double carryOffsetX, double carryOffsetY, double carryOffsetZ)
static native int	placeGamepiece (long worldHandle, int gamepieceIndex, double xMeters, double yMeters, double zMeters)
static native int	outtakeGamepiece (long worldHandle, int gamepieceIndex, double px, double py, double pz, double vx, double vy, double vz)
static native int	setGamepiecePosition (long worldHandle, int gamepieceIndex, double xMeters, double yMeters, double zMeters)
static native int	setGamepieceLinearVelocity (long worldHandle, int gamepieceIndex, double vxMps, double vyMps, double vzMps)
static native int	getGamepiecePosition (long worldHandle, int gamepieceIndex, double[] outXyzMeters)
static native int	getGamepieceLinearVelocity (long worldHandle, int gamepieceIndex, double[] outVxyzMps)
static native int	setWorldGravity (long worldHandle, double gxMps2, double gyMps2, double gzMps2)
static native int	setWorldAerodynamics (long worldHandle, boolean enabled, double airDensityKgPm3, double linearDragNPerMps, double magnusCoefficient, double defaultDragCoefficient, double defaultReferenceAreaM2)
static native int	setMaterialInteraction (long worldHandle, int materialAId, int materialBId, double restitution, double friction, boolean enabled)
static native int	stepWorld (long worldHandle, int steps)
static native int	getBodyPosition (long worldHandle, int bodyIndex, double[] outXyzMeters)
static native int	getBodyLinearVelocity (long worldHandle, int bodyIndex, double[] outVxyzMps)
static native int	getBodyOrientation (long worldHandle, int bodyIndex, double[] outWxyz)
static native int	getBodyPose7Array (long worldHandle, double[] outPose7)
static native int	getBodyVelocity6Array (long worldHandle, double[] outVelocity6)
static native int	getBodyState13Array (long worldHandle, double[] outState13)

Detailed Description

JNI entry points for the vendor physics driver.

Member Function Documentation

◆ createBody()

native int jsim.jni.JSimJNI.createBody	(	long	worldHandle,
		double	massKg )

static

Creates a body in the given world and returns its native index.

Parameters

worldHandle	the native world handle
massKg	the body mass in kilograms

Returns: the native body index

◆ createGamepiece() [1/2]

native int jsim.jni.JSimJNI.createGamepiece ( long worldHandle )

static

Creates a generic gamepiece using the legacy ball-compatible defaults.

Parameters

worldHandle the native world handle

Returns: the native gamepiece index

◆ createGamepiece() [2/2]

native int jsim.jni.JSimJNI.createGamepiece	(	long	worldHandle,
		double	radiusMeters,
		double	massKg,
		double	restitution )

static

Creates a generic gamepiece with a spherical hitbox in the world.

Parameters

worldHandle	the native world handle
radiusMeters	sphere hitbox radius in meters
massKg	gamepiece mass in kilograms
restitution	coefficient of restitution in [0, 1]

Returns: the native gamepiece index

◆ createGamepieceWithType()

native int jsim.jni.JSimJNI.createGamepieceWithType	(	long	worldHandle,
		int	type,
		double	radiusMeters,
		double	massKg,
		double	restitution )

static

Creates a generic gamepiece with explicit type tag.

Parameters

worldHandle	native world handle
type	ordinal value from GamePieceType
radiusMeters	sphere radius in meters
massKg	mass in kilograms
restitution	coefficient of restitution

Returns: native gamepiece index

◆ createGamepieceWithTypeName()

native int jsim.jni.JSimJNI.createGamepieceWithTypeName	(	long	worldHandle,
		String	typeName,
		double	radiusMeters,
		double	massKg,
		double	restitution )

static

Creates a generic gamepiece with a string type name.

Parameters

worldHandle	native world handle
typeName	human readable type name (e.g. "generic_sphere")
radiusMeters	sphere radius in meters
massKg	mass in kilograms
restitution	coefficient of restitution

Returns: native gamepiece index

◆ createWorld()

native long jsim.jni.JSimJNI.createWorld	(	double	fixedDtSeconds,
		boolean	enableGravity )

static

Creates a native world handle.

Parameters

fixedDtSeconds	the fixed simulation timestep in seconds
enableGravity	true to enable gravity for the world

Returns: the native world handle

◆ destroyWorld()

native void jsim.jni.JSimJNI.destroyWorld ( long worldHandle )

static

Destroys a native world handle.

Parameters

worldHandle the native world handle to destroy

◆ forceLoad()

synchronized void jsim.jni.JSimJNI.forceLoad ( )

inlinestatic

Forces the native library to load.

◆ getBodyLinearVelocity()

native int jsim.jni.JSimJNI.getBodyLinearVelocity	(	long	worldHandle,
		int	bodyIndex,
		double[]	outVxyzMps )

static

Reads a body's linear velocity into outVxyzMps.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
outVxyzMps	the output array that receives the linear velocity

Returns: zero on success

◆ getBodyOrientation()

native int jsim.jni.JSimJNI.getBodyOrientation	(	long	worldHandle,
		int	bodyIndex,
		double[]	outWxyz )

static

Reads a body's orientation as a quaternion into outWxyz.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
outWxyz	the output array that receives qw,qx,qy,qz

Returns: zero on success

◆ getBodyPose7Array()

native int jsim.jni.JSimJNI.getBodyPose7Array	(	long	worldHandle,
		double[]	outPose7 )

static

Exports flattened body poses as [x, y, z, qw, qx, qy, qz] blocks.

Parameters

worldHandle	the native world handle
outPose7	the destination array sized for N*7 entries

Returns: the number of body blocks written, or negative on error

◆ getBodyPosition()

native int jsim.jni.JSimJNI.getBodyPosition	(	long	worldHandle,
		int	bodyIndex,
		double[]	outXyzMeters )

static

Reads a body's position into outXyzMeters.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
outXyzMeters	the output array that receives the position

Returns: zero on success

◆ getBodyState13Array()

native int jsim.jni.JSimJNI.getBodyState13Array	(	long	worldHandle,
		double[]	outState13 )

static

Exports flattened full body state as [x, y, z, qw, qx, qy, qz, vx, vy, vz, wx, wy, wz] blocks.

Parameters

worldHandle	the native world handle
outState13	the destination array sized for N*13 entries

Returns: the number of body blocks written, or negative on error

◆ getBodyVelocity6Array()

native int jsim.jni.JSimJNI.getBodyVelocity6Array	(	long	worldHandle,
		double[]	outVelocity6 )

static

Exports flattened body velocities as [vx, vy, vz, wx, wy, wz] blocks.

Parameters

worldHandle	the native world handle
outVelocity6	the destination array sized for N*6 entries

Returns: the number of body blocks written, or negative on error

◆ getGamepieceLinearVelocity()

native int jsim.jni.JSimJNI.getGamepieceLinearVelocity	(	long	worldHandle,
		int	gamepieceIndex,
		double[]	outVxyzMps )

static

Native: get gamepiece linear velocity.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
outVxyzMps	output array of length 3 receiving vx,vy,vz in m/s

Returns: zero on success, non-zero on failure

◆ getGamepiecePosition()

native int jsim.jni.JSimJNI.getGamepiecePosition	(	long	worldHandle,
		int	gamepieceIndex,
		double[]	outXyzMeters )

static

Native: get gamepiece position.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
outXyzMeters	output array of length 3 receiving x,y,z in meters

Returns: zero on success, non-zero on failure

◆ getGamepieceTypeName()

native String jsim.jni.JSimJNI.getGamepieceTypeName	(	long	worldHandle,
		int	gamepieceIndex )

static

Reads the registered type name for a gamepiece.

Parameters

worldHandle	native world handle
gamepieceIndex	native gamepiece index

Returns: UTF-8 type name or null when unknown

◆ initialize()

native int jsim.jni.JSimJNI.initialize ( )

static

Initializes the native driver.

Returns: the value returned by the driver

◆ outtakeGamepiece()

native int jsim.jni.JSimJNI.outtakeGamepiece	(	long	worldHandle,
		int	gamepieceIndex,
		double	px,
		double	py,
		double	pz,
		double	vx,
		double	vy,
		double	vz )

static

Launches (outtakes) a gamepiece with the specified position and velocity.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
px	launch position x in meters
py	launch position y in meters
pz	launch position z in meters
vx	launch velocity x in m/s
vy	launch velocity y in m/s
vz	launch velocity z in m/s

Returns: zero on success, non-zero on failure

◆ pickGamepiece()

native int jsim.jni.JSimJNI.pickGamepiece	(	long	worldHandle,
		int	gamepieceIndex,
		double	intakeX,
		double	intakeY,
		double	intakeZ,
		double	captureRadius,
		double	carryOffsetX,
		double	carryOffsetY,
		double	carryOffsetZ )

static

Attempts to pick up a gamepiece into a carrier location.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
intakeX	world-space intake x coordinate
intakeY	world-space intake y coordinate
intakeZ	world-space intake z coordinate
captureRadius	capture radius in meters
carryOffsetX	carry offset x in meters
carryOffsetY	carry offset y in meters
carryOffsetZ	carry offset z in meters

Returns: zero on success, non-zero on failure

◆ placeGamepiece()

native int jsim.jni.JSimJNI.placeGamepiece	(	long	worldHandle,
		int	gamepieceIndex,
		double	xMeters,
		double	yMeters,
		double	zMeters )

static

Places a gamepiece at the given world position and marks it grounded.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
xMeters	x position in meters
yMeters	y position in meters
zMeters	z position in meters

Returns: zero on success, non-zero on failure

◆ setBodyAerodynamicBox()

native int jsim.jni.JSimJNI.setBodyAerodynamicBox	(	long	worldHandle,
		int	bodyIndex,
		double	xMeters,
		double	yMeters,
		double	zMeters,
		double	dragCoefficient )

static

Assigns box aerodynamic geometry to a body (useful for robot CAD components).

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
xMeters	box x dimension in meters
yMeters	box y dimension in meters
zMeters	box z dimension in meters
dragCoefficient	drag coefficient (dimensionless)

Returns: zero on success

◆ setBodyAerodynamicSphere()

native int jsim.jni.JSimJNI.setBodyAerodynamicSphere	(	long	worldHandle,
		int	bodyIndex,
		double	radiusMeters,
		double	dragCoefficient )

static

Assigns sphere aerodynamic geometry to a body (useful for game pieces from CAD).

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
radiusMeters	sphere radius in meters
dragCoefficient	drag coefficient (dimensionless)

Returns: zero on success

◆ setBodyCollisionFilter()

native int jsim.jni.JSimJNI.setBodyCollisionFilter	(	long	worldHandle,
		int	bodyIndex,
		int	collisionLayerBits,
		int	collisionMaskBits )

static

Sets collision layer and mask filters for this body.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
collisionLayerBits	body layer bitmask
collisionMaskBits	body mask bitmask

Returns: zero on success

◆ setBodyGravityEnabled()

native int jsim.jni.JSimJNI.setBodyGravityEnabled	(	long	worldHandle,
		int	bodyIndex,
		boolean	enabled )

static

Enables or disables gravity for a body.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
enabled	true to enable gravity, false to disable it

Returns: zero on success

◆ setBodyLinearVelocity()

native int jsim.jni.JSimJNI.setBodyLinearVelocity	(	long	worldHandle,
		int	bodyIndex,
		double	vxMps,
		double	vyMps,
		double	vzMps )

static

Sets a body's linear velocity in meters per second.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
vxMps	the x velocity in meters per second
vyMps	the y velocity in meters per second
vzMps	the z velocity in meters per second

Returns: zero on success

◆ setBodyMaterial()

native int jsim.jni.JSimJNI.setBodyMaterial	(	long	worldHandle,
		int	bodyIndex,
		double	restitution,
		double	frictionKinetic,
		double	frictionStatic,
		double	collisionDamping )

static

Sets per-body material contact properties.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
restitution	coefficient of restitution [0, 1]
frictionKinetic	kinetic friction coefficient
frictionStatic	static friction coefficient
collisionDamping	damping coefficient [0, 1]

Returns: zero on success

◆ setBodyMaterialId()

native int jsim.jni.JSimJNI.setBodyMaterialId	(	long	worldHandle,
		int	bodyIndex,
		int	materialId )

static

Sets numeric material identifier used by world material-interaction tables.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
materialId	numeric material id

Returns: zero on success

◆ setBodyOrientation()

native int jsim.jni.JSimJNI.setBodyOrientation	(	long	worldHandle,
		int	bodyIndex,
		double	qw,
		double	qx,
		double	qy,
		double	qz )

static

Sets a body's world-space orientation as a quaternion.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
qw	quaternion w component
qx	quaternion x component
qy	quaternion y component
qz	quaternion z component

Returns: zero on success

◆ setBodyPosition()

native int jsim.jni.JSimJNI.setBodyPosition	(	long	worldHandle,
		int	bodyIndex,
		double	xMeters,
		double	yMeters,
		double	zMeters )

static

Sets a body's position in meters.

Parameters

worldHandle	the native world handle
bodyIndex	the native body index
xMeters	the x position in meters
yMeters	the y position in meters
zMeters	the z position in meters

Returns: zero on success

◆ setGamepieceLinearVelocity()

native int jsim.jni.JSimJNI.setGamepieceLinearVelocity	(	long	worldHandle,
		int	gamepieceIndex,
		double	vxMps,
		double	vyMps,
		double	vzMps )

static

Native: set gamepiece linear velocity.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
vxMps	x velocity in meters per second
vyMps	y velocity in meters per second
vzMps	z velocity in meters per second

Returns: zero on success, non-zero on failure

◆ setGamepiecePosition()

native int jsim.jni.JSimJNI.setGamepiecePosition	(	long	worldHandle,
		int	gamepieceIndex,
		double	xMeters,
		double	yMeters,
		double	zMeters )

static

Native: set gamepiece position.

Parameters

worldHandle	the native world handle
gamepieceIndex	the native gamepiece index
xMeters	x position in meters
yMeters	y position in meters
zMeters	z position in meters

Returns: zero on success, non-zero on failure

◆ setMaterialInteraction()

native int jsim.jni.JSimJNI.setMaterialInteraction	(	long	worldHandle,
		int	materialAId,
		int	materialBId,
		double	restitution,
		double	friction,
		boolean	enabled )

static

Sets per-material-pair contact interaction overrides.

Parameters

worldHandle	the native world handle
materialAId	first material id
materialBId	second material id
restitution	override restitution [0, 1]
friction	override kinetic friction coefficient
enabled	true to enable this pair override

Returns: zero on success

◆ setWorldAerodynamics()

native int jsim.jni.JSimJNI.setWorldAerodynamics	(	long	worldHandle,
		boolean	enabled,
		double	airDensityKgPm3,
		double	linearDragNPerMps,
		double	magnusCoefficient,
		double	defaultDragCoefficient,
		double	defaultReferenceAreaM2 )

static

Configures world-level aerodynamics parameters.

Parameters

worldHandle	the native world handle
enabled	true to enable aerodynamics
airDensityKgPm3	air density in kg/m^3
linearDragNPerMps	linear drag coefficient in N/(m/s)
magnusCoefficient	Magnus coefficient
defaultDragCoefficient	default drag coefficient
defaultReferenceAreaM2	default drag reference area in m^2

Returns: zero on success

◆ setWorldGravity()

native int jsim.jni.JSimJNI.setWorldGravity	(	long	worldHandle,
		double	gxMps2,
		double	gyMps2,
		double	gzMps2 )

static

Sets the world's gravity vector in meters per second squared.

Parameters

worldHandle	the native world handle
gxMps2	the x gravity component in meters per second squared
gyMps2	the y gravity component in meters per second squared
gzMps2	the z gravity component in meters per second squared

Returns: zero on success

◆ stepWorld()

native int jsim.jni.JSimJNI.stepWorld	(	long	worldHandle,
		int	steps )

static

Advances the world by the given number of steps.

Parameters

worldHandle	the native world handle
steps	the number of steps to advance

Returns: zero on success

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

src/main/java/jsim/jni/JSimJNI.java

Classes

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ createBody()

◆ createGamepiece() [1/2]

◆ createGamepiece() [2/2]

◆ createGamepieceWithType()

◆ createGamepieceWithTypeName()

◆ createWorld()

◆ destroyWorld()

◆ forceLoad()

◆ getBodyLinearVelocity()

◆ getBodyOrientation()

◆ getBodyPose7Array()

◆ getBodyPosition()

◆ getBodyState13Array()

◆ getBodyVelocity6Array()

◆ getGamepieceLinearVelocity()

◆ getGamepiecePosition()

◆ getGamepieceTypeName()

◆ initialize()

◆ outtakeGamepiece()

◆ pickGamepiece()

◆ placeGamepiece()

◆ setBodyAerodynamicBox()

◆ setBodyAerodynamicSphere()

◆ setBodyCollisionFilter()

◆ setBodyGravityEnabled()

◆ setBodyLinearVelocity()

◆ setBodyMaterial()

◆ setBodyMaterialId()

◆ setBodyOrientation()

◆ setBodyPosition()

◆ setGamepieceLinearVelocity()

◆ setGamepiecePosition()

◆ setMaterialInteraction()

◆ setWorldAerodynamics()

◆ setWorldGravity()

◆ stepWorld()