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

A

acc(Tuple2d, double, Tuple2d) - Static method in class cs5643.rigidbody.Utils

sum += scale*v

add(Block) - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

add(Block) - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

add(RigidBody) - Method in class cs5643.rigidbody.RigidBodySystem

Adds the RigidBody to the system, and invalidates the existing CollisionProcessor.

addComponentRigidBodies(RigidBodySystem) - Method in class cs5643.rigidbody.ImageBlocker

Constructs new RigidBody objects for each connected component of Blocks, and adds each to the RigidBodySystem.

addedBeans - Variable in class cs5643.rigidbody.JellyBeanFactory

addForce(Force) - Method in class cs5643.rigidbody.RigidBodySystem

Adds a force object (until removed)

advanceTime(double) - Method in class cs5643.rigidbody.JellyBeanFactory

Creates any new jelly beans, but does not advance positions---done elsewhere by integrator.

advanceTime(double) - Method in class cs5643.rigidbody.RigidBody

Advances body state, integrating any accumulated force/torque (which are then set to zero), and updates internal rigid transforms.

advanceTime(double) - Method in class cs5643.rigidbody.RigidBodySystem

Incomplete/Debugging integrator implementation.

advanceTime(double) - Method in class cs5643.rigidbody.RigidImageSimulation

apply_glOrtho(GL) - Method in class cs5643.rigidbody.OrthoMap

applyContactForceW(Point2d, Vector2d) - Method in class cs5643.rigidbody.RigidBody

TODO(ADD TORQUE SUPPORT!) Applies contact force (in world coordinates)

applyForce() - Method in interface cs5643.rigidbody.Force

Causes force to be applied to affected bodies.

applyForce() - Method in class cs5643.rigidbody.SpringForcePoint2Body

applyWrenchW(Vector2d, double) - Method in class cs5643.rigidbody.RigidBody

Accumulates force/torque in world coordinates.

atRest(RigidBody) - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

Returns true if bean is at rest based on a mass-normalized kinetic energy metric.

B

B - Variable in class cs5643.rigidbody.ImageBlocker

Block[i][j] with null for massless/background Blocks.

B - Variable in class cs5643.rigidbody.RigidBody

Block approximation of geometry for rendering and collision processing (body frame).

beanTypes - Variable in class cs5643.rigidbody.JellyBeanFactory

Beans of different color/type for cloning

Block - Class in cs5643.rigidbody

Basic square block/pixel primitive for representing image-based rigid objects and resolving contacts.

Block(int, int, Color3f, Point2d, double) - Constructor for class cs5643.rigidbody.Block

Constructs a Block.

blocks - Variable in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

blocks - Variable in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

bodies - Variable in class cs5643.rigidbody.RigidBodySystem

List of RigidBody objects.

BodyPair - Class in cs5643.rigidbody

A hashable int representation of a pair of indexed rigid bodies.

BodyPair(int, int) - Constructor for class cs5643.rigidbody.BodyPair

boundaryBlocks - Variable in class cs5643.rigidbody.RigidBody

Boundary blocks.

boundingDisk - Variable in class cs5643.rigidbody.RigidBody

Disk that bounds blocks (body frame).

broadPhase() - Method in class cs5643.rigidbody.CollisionProcessor

Insert your implementation here of whatever broad phase test you choose.

buildColFragments() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder

buildRowFragments() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder

C

c - Variable in class cs5643.rigidbody.Block

Pixel color.

c - Variable in class cs5643.rigidbody.Disk

Center of disk.

c() - Method in class cs5643.rigidbody.Disk

Fragile reference to center of Disk.

CollisionProcessor - Class in cs5643.rigidbody

Class to detect and resolve collisions (e.g., using penalty forces) between rigid bodies.

CollisionProcessor(Set<RigidBody>) - Constructor for class cs5643.rigidbody.CollisionProcessor

Index bodies, and BUILD YOUR FAVORITE DATA STRUCTURES!

collisionProcessor - Variable in class cs5643.rigidbody.RigidBodySystem

components - Variable in class cs5643.rigidbody.ImageBlocker

Resulting sets of connected Block components.

Constants - Interface in cs5643.rigidbody

Feel free to put your constants and parameters here.

CONTACT_STIFFNESS - Static variable in interface cs5643.rigidbody.Constants

Stiffness of penalty contact spring force.

crossZ(Tuple2d, Tuple2d) - Static method in class cs5643.rigidbody.Utils

Returns (ax*by-ay*bx).

cs5643.rigidbody - package cs5643.rigidbody

D

Disk - Class in cs5643.rigidbody

Representation of a circular bounding disk.

Disk(Collection<Block>) - Constructor for class cs5643.rigidbody.Disk

Builds a Disk that encloses the specified blocks in their frame of reference.

Disk(Point2d, double) - Constructor for class cs5643.rigidbody.Disk

Builds Disk with specified center and radius values.

DISK_DISPLAY_LIST - Static variable in class cs5643.rigidbody.Disk

dispatchKey(char, KeyEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

Handles keyboard events, e.g., spacebar toggles simulation/pausing, and escape resets the current Task.

display(GL) - Method in class cs5643.rigidbody.Block

Draws Block geometry (using current color/lighting).

display(GL) - Method in class cs5643.rigidbody.Disk

Draws circular disk using a display list.

display(GL) - Method in interface cs5643.rigidbody.Force

Display any instructive force information, e.g., connecting spring.

display(GL, int, int) - Method in class cs5643.rigidbody.JellyBeanFactory

Displays spaghetti text stats.

display(GL) - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

Draws a white dot on each bean at rest.

display(GL) - Method in class cs5643.rigidbody.RigidBody

Draws body using a display list.

display(GL) - Method in class cs5643.rigidbody.RigidBodySystem

Displays RigidBody and Force objects.

display(GLAutoDrawable) - Method in class cs5643.rigidbody.RigidImageSimulation

Main event loop: OpenGL display + simulation advance.

display(GL) - Method in class cs5643.rigidbody.SpringForcePoint2Body

displayBound(GL) - Method in class cs5643.rigidbody.RigidBody

Draws a Disk.

displayChanged(GLAutoDrawable, boolean, boolean) - Method in class cs5643.rigidbody.RigidImageSimulation

GLEventListener implementation

displayDisk(GL, Tuple2d, double) - Static method in class cs5643.rigidbody.Disk

drawBounds - Variable in class cs5643.rigidbody.RigidImageSimulation

Draws object bounds (Disk) if true.

drawWireframe - Variable in class cs5643.rigidbody.RigidImageSimulation

Draws wireframe if true, and pixel blocks if false.

DT - Static variable in class cs5643.rigidbody.RigidImageSimulation

Size of symplectic Euler time step (in seconds).

E

extractComponents() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder

Extracts "components" from label

F

F - Variable in class cs5643.rigidbody.RigidBodySystem

List of Force objects.

Force - Interface in cs5643.rigidbody

RigidBody system force.

force - Variable in class cs5643.rigidbody.RigidBody

Accumulator for linear force (world frame)

frame - Variable in class cs5643.rigidbody.RigidImageSimulation

Main window frame.

frameExporter - Variable in class cs5643.rigidbody.RigidImageSimulation

Reference to current FrameExporter, or null if no frames being dumped.

G

getBestHeight() - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

getBlocks() - Method in class cs5643.rigidbody.ImageBlocker

Nonempty Blocks of image.

getBlocks() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

getBlocks() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

getBlocks() - Method in class cs5643.rigidbody.RigidBody

Fragile reference to all blocks.

getBoundaryBlocks() - Method in class cs5643.rigidbody.RigidBody

Fragile reference to blocks without 8 equidistant neighbour blocks.

getBoundingDiskB() - Method in class cs5643.rigidbody.RigidBody

Bounding disk in body (B) coordinates.

getColorMass() - Method in class cs5643.rigidbody.Block

Color-based mass on [0,1] with white having zero mass, and darker colors approaching one (feel free to modify).

getHeight() - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

getHighestRestingBean() - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

getKey() - Method in class cs5643.rigidbody.RigidBody

Integer key used to identify body in collision processing (default=-1 if not set).

getKineticEnergy() - Method in class cs5643.rigidbody.RigidBody

Both linear and angular kinetic energy.

getMass() - Method in class cs5643.rigidbody.RigidBody

Mass of object.

getMassAngular() - Method in class cs5643.rigidbody.RigidBody

Angular mass, or inertia tensor I_zz, of object.

getMinLabel() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

getMinLabel() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

getNBlocks() - Method in class cs5643.rigidbody.RigidBody

Number of image blocks comprising this rigid body.

getNBodies() - Method in class cs5643.rigidbody.RigidBodySystem

Number of rigid bodies.

getNJellyBeans() - Method in class cs5643.rigidbody.JellyBeanFactory

Number of simulated jelly beans.

getNRest() - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

getNRestMax() - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

getOrientation() - Method in class cs5643.rigidbody.RigidBody

Current rotation angle (in radians).

getPaddedNumber(int, int, String) - Static method in class cs5643.rigidbody.Utils

getPaddedString(String, int, String, boolean) - Static method in class cs5643.rigidbody.Utils

getPoint2d(MouseEvent) - Method in class cs5643.rigidbody.OrthoMap

Get 2d coordinates in unit computation cell of e using knowledge of ortho projection.

getPoint2d(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

Maps mouse event into computational cell using OrthoMap.

getPosition() - Method in class cs5643.rigidbody.RigidBody

Fragile reference to center-of-mass position.

getProcessCollisions() - Method in class cs5643.rigidbody.RigidBodySystem

Returns true if collision processing is enabled, and false otherwise.

getRigidBodies() - Method in class cs5643.rigidbody.RigidBodySystem

Fragile reference to rigid bodies.

getSpatialVelocityW(Point2d) - Method in class cs5643.rigidbody.RigidBody

New Vector2d containing spatial velocity of the specified world-frame point.

getSystem() - Method in interface cs5643.rigidbody.Force

Reference to the system this force affects.

getSystem() - Method in class cs5643.rigidbody.SpringForcePoint2Body

getVelocityAngular() - Method in class cs5643.rigidbody.RigidBody

Fragile reference to linear velocity.

getVelocityLinear() - Method in class cs5643.rigidbody.RigidBody

Fragile reference to linear velocity.

H

h - Variable in class cs5643.rigidbody.Block

Halfwidth of block (Note: the block radius is sqrt(2)*h).

h() - Method in class cs5643.rigidbody.Block

Halfwidth of block.

hasAllBlueBlocks() - Method in class cs5643.rigidbody.RigidBody

Returns true if all blocks are shades of pure blue, c \propto (0,0,1) or (a,a,b) with b>a.

hashcode() - Method in class cs5643.rigidbody.BodyPair

Hashcode for body pair: hash(i,j)=hash(j,i).

I

i - Variable in class cs5643.rigidbody.Block

Image row index.

i() - Method in class cs5643.rigidbody.Block

Image row.

i() - Method in class cs5643.rigidbody.BodyPair

Body "i" index

image - Variable in class cs5643.rigidbody.ImageBlocker

Image in question.

ImageBlocker - Class in cs5643.rigidbody

Converts an image into Block objects, and identifies connected components to generate RigidBody objects.

ImageBlocker(String) - Constructor for class cs5643.rigidbody.ImageBlocker

ImageBlocker.ScanlineCCBuilder - Class in cs5643.rigidbody

Finds connected components by unifying row/column fragment labels via iterative minimization of row/col fragment labels using expansion moves.

ImageBlocker.ScanlineCCBuilder() - Constructor for class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder

ImageBlocker.ScanlineCCBuilder.ColFrag - Class in cs5643.rigidbody

Col impl of Frag

ImageBlocker.ScanlineCCBuilder.ColFrag(int) - Constructor for class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

ImageBlocker.ScanlineCCBuilder.RowFrag - Class in cs5643.rigidbody

ImageBlocker.ScanlineCCBuilder.RowFrag(int) - Constructor for class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

index - Variable in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

index - Variable in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

init(GLAutoDrawable) - Method in class cs5643.rigidbody.RigidImageSimulation

GLEventListener implementation: Initializes JOGL renderer.

intersects(Point2d) - Method in class cs5643.rigidbody.Disk

True if point intersects this bounding volume.

intersectsBounds(RigidBody) - Method in class cs5643.rigidbody.RigidBody

Returns true if bounds of the two bodies intersect (default is Disk-Disk test, but an AABB-AABB may perform better for text/images.).

intersectsW(Point2d) - Method in class cs5643.rigidbody.RigidBody

Returns true if point intersects support of body (HACK: Currently just bounding Disk...

invert() - Method in class cs5643.rigidbody.RigidTransform

Inverts transform.

isPinned() - Method in class cs5643.rigidbody.RigidBody

Returns true if currently pinned.

J

j - Variable in class cs5643.rigidbody.Block

Image column index.

j() - Method in class cs5643.rigidbody.Block

Image column.

j() - Method in class cs5643.rigidbody.BodyPair

Body "j" index

JellyBeanFactory - Class in cs5643.rigidbody

Jelly Bean Factory implementation.

JellyBeanFactory(RigidBodySystem) - Constructor for class cs5643.rigidbody.JellyBeanFactory

Creates an empty jelly bean container/boundary, and prepares for jelly bean emission.

jellyBeanFactory - Variable in class cs5643.rigidbody.RigidImageSimulation

Non-null reference when simulating the "Jelly Bean Factory" images.

JellyBeanFactory.RestingBeans - Class in cs5643.rigidbody

Estimates how many beans are at rest, and their maximum height, which is an indirect test of the solver's friction ability.

JellyBeanFactory.RestingBeans() - Constructor for class cs5643.rigidbody.JellyBeanFactory.RestingBeans

JellyBeanFactory.WallClock - Class in cs5643.rigidbody

JellyBeanFactory.WallClock() - Constructor for class cs5643.rigidbody.JellyBeanFactory.WallClock

jiggle() - Method in class cs5643.rigidbody.RigidBodySystem

Applies some random accelerations to the objects (modify as desired).

L

largeStep - Variable in class cs5643.rigidbody.RigidImageSimulation

If true, instead of one step per frame, simulator takes N_STEPS_PER_FRAME.

M

M - Variable in class cs5643.rigidbody.ImageBlocker

#Rows

main(String[]) - Static method in class cs5643.rigidbody.RigidImageSimulation

### Runs the RigidImageSimulation.

massAngular - Variable in class cs5643.rigidbody.RigidBody

Angular mass, I_zz, the scalar 2D version of the inertia tensor.

massLinear - Variable in class cs5643.rigidbody.RigidBody

Mass of object.

minimizeConnectedLabels() - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder

Iterative minimization of connected labels using alternating row/column fragment minimization.

mouseClicked(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

mouseDragged(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

mouseEntered(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

mouseExited(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

mouseMoved(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

mousePressed(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

mouseReleased(MouseEvent) - Method in class cs5643.rigidbody.RigidImageSimulation

N

N - Variable in class cs5643.rigidbody.ImageBlocker

#Columns

N_STEPS_PER_FRAME - Static variable in class cs5643.rigidbody.RigidImageSimulation

Number of time steps per large step size.

narrowPhase() - Method in class cs5643.rigidbody.CollisionProcessor

Insert your implementation of narrow phase collision detection and penalty force response here.

O

omega - Variable in class cs5643.rigidbody.RigidBody

Angular velocity (init=0)

OrthoMap - Class in cs5643.rigidbody

Simple object for setting up orthographic projection in OpenGL, and mapping mouse clicks into the unit computational cell.

OrthoMap(int, int) - Constructor for class cs5643.rigidbody.OrthoMap

P

p - Variable in class cs5643.rigidbody.Block

Body-frame position --- needed for contact processing.

p() - Method in class cs5643.rigidbody.Block

Center position of Block (in body coordinates).

pickBody(Point2d) - Method in class cs5643.rigidbody.RigidBodySystem

Picks body based on some criteria, or null if none picked.

pin - Variable in class cs5643.rigidbody.RigidBody

Pin-constraint status.

processBodyPair(BodyPair) - Method in class cs5643.rigidbody.CollisionProcessor

Narrow phase BodyPair collision resolution.

processCollisions() - Method in class cs5643.rigidbody.CollisionProcessor

Performs broad and narrow phase collision detection, and applies penalty forces at contacts.

processCollisions - Variable in class cs5643.rigidbody.RigidBodySystem

R

r - Variable in class cs5643.rigidbody.Disk

Radius of disk.

r() - Method in class cs5643.rigidbody.Disk

Radius of Disk.

R - Variable in class cs5643.rigidbody.SpringForcePoint2Body

RBS - Variable in class cs5643.rigidbody.JellyBeanFactory

RBS - Variable in class cs5643.rigidbody.RigidImageSimulation

The single RigidBodySystem reference.

remove(RigidBody) - Method in class cs5643.rigidbody.RigidBodySystem

Removes the RigidBody from the system, and invalidates the existing CollisionProcessor.

removeForce(Force) - Method in class cs5643.rigidbody.RigidBodySystem

Useful for removing temporary forces, such as user-interaction spring forces.

reset() - Method in class cs5643.rigidbody.JellyBeanFactory

Deletes all previous jelly beans, and restarts factory.

reset() - Method in class cs5643.rigidbody.RigidBody

Resets state to original values (original position/orientation, with zero velocities), updates rigid transforms, and clears force/torque accumulators.

reset() - Method in class cs5643.rigidbody.RigidBodySystem

Moves all rigidbodys to undeformed/materials positions, and sets all velocities to zero.

reshape(GLAutoDrawable, int, int, int, int) - Method in class cs5643.rigidbody.RigidImageSimulation

GLEventListener implementation

RigidBody - Class in cs5643.rigidbody

Simple 2D rigid body with image- and sample-based geometric representation.

RigidBody(Collection<Block>) - Constructor for class cs5643.rigidbody.RigidBody

Constructs rigid body as the union of specified blocks.

RigidBody(RigidBody) - Constructor for class cs5643.rigidbody.RigidBody

Copy constructor that shares underlying Block objects.

RigidBodySystem - Class in cs5643.rigidbody

Maintains a dynamic list of RigidBody objects, and provides access to their state for numerical integration of dynamics and collision processing.

RigidBodySystem() - Constructor for class cs5643.rigidbody.RigidBodySystem

Basic constructor.

RigidImageSimulation - Class in cs5643.rigidbody

CS5643: Assignment #3 "Rigid Body Contact" main class.

RigidImageSimulation(String, boolean) - Constructor for class cs5643.rigidbody.RigidImageSimulation

Main constructor.

RigidTransform - Class in cs5643.rigidbody

Maintains a 2D rigidbody transform.

RigidTransform() - Constructor for class cs5643.rigidbody.RigidTransform

S

S - Variable in class cs5643.rigidbody.SpringForcePoint2Body

set(RigidTransform) - Method in class cs5643.rigidbody.RigidTransform

set(double, Tuple2d) - Method in class cs5643.rigidbody.RigidTransform

Transformation specified by rotation angle, theta, and translation.

setKey(int) - Method in class cs5643.rigidbody.RigidBody

Integer key used to identify body in collision processing, etc.

setMinLabel(int) - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.ColFrag

setMinLabel(int) - Method in class cs5643.rigidbody.ImageBlocker.ScanlineCCBuilder.RowFrag

setPin(boolean) - Method in class cs5643.rigidbody.RigidBody

Specifies whether or not this rigidbody is fixed in space via a full-dof (encastré) pin constraint.

setProcessCollisions(boolean) - Method in class cs5643.rigidbody.RigidBodySystem

Enables/disables collision processing.

simulate - Variable in class cs5643.rigidbody.RigidImageSimulation

Toggle to advance simulation.

simulateAndDisplayScene(GL) - Method in class cs5643.rigidbody.RigidImageSimulation

Simulate then display particle system and any builder adornments.

SpringForcePoint2Body - Class in cs5643.rigidbody

Spring force between one body and a proxy point.

SpringForcePoint2Body(RigidBody, Point2d, RigidBodySystem) - Constructor for class cs5643.rigidbody.SpringForcePoint2Body

start() - Method in class cs5643.rigidbody.RigidImageSimulation

Builds and shows window, and starts simulator.

STIFFNESS_STRETCH_DENSITY - Static variable in interface cs5643.rigidbody.Constants

Stiffness of mouse-force spring.

T

T - Variable in class cs5643.rigidbody.RigidTransform

t0 - Variable in class cs5643.rigidbody.JellyBeanFactory.WallClock

theta - Variable in class cs5643.rigidbody.RigidBody

Orientation angle (init=0)

time - Variable in class cs5643.rigidbody.RigidBodySystem

Current simulation time.

timeMin() - Method in class cs5643.rigidbody.JellyBeanFactory.WallClock

torque - Variable in class cs5643.rigidbody.RigidBody

Accumulator for angular force, i.e., torque (world frame)

toString() - Method in class cs5643.rigidbody.RigidBody

Returns state info as a string.

transform(Tuple2d) - Method in class cs5643.rigidbody.RigidTransform

Multiply this matrix by the tuple t and place the result back into the tuple (t = this*t).

transformB2W - Variable in class cs5643.rigidbody.RigidBody

body2world transform

transformB2W(Tuple2d) - Method in class cs5643.rigidbody.RigidBody

Transforms point/vector from Body to World frame.

transformW2B - Variable in class cs5643.rigidbody.RigidBody

world2body transform

transformW2B(Tuple2d) - Method in class cs5643.rigidbody.RigidBody

Transforms point/vector from World to Body frame.

U

update() - Method in class cs5643.rigidbody.JellyBeanFactory.RestingBeans

updatePoint(Point2d) - Method in class cs5643.rigidbody.SpringForcePoint2Body

Utils - Class in cs5643.rigidbody

Catch-all utilities (feel free to add on).

Utils() - Constructor for class cs5643.rigidbody.Utils

V

v - Variable in class cs5643.rigidbody.RigidBody

Linear velocity (world frame) (init=0)

X

x - Variable in class cs5643.rigidbody.RigidBody

Position of center of mass (world frame)

x - Variable in class cs5643.rigidbody.SpringForcePoint2Body

x0 - Variable in class cs5643.rigidbody.RigidBody

Initial position of center of mass (world frame)

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