Package org.web3d.x3d.sai.RigidBodyPhysics

Interface RigidBody

All Superinterfaces:
X3DNode
All Known Implementing Classes:
RigidBodyObject
public interface RigidBody
extends X3DNode
RigidBody describes a collection of shapes with a mass distribution that is affected by the physics model.

X3D node tooltip: (X3D version 3.2 or later) [X3DNode] RigidBody describes a collection of shapes with a mass distribution that is affected by the physics model. Contains a Sphere, Box, or Cone (containerField='massDensityModel') and multiple CollidableOffset or CollidableShape nodes (containerField='geometry') for animating collidable geometry. *


Package hint: This interface is defined by the X3D Java Language Binding Specification for the Scene Authoring Interface (SAI).
See Also:
SAI Java Specification: TODO, X3D Abstract Specification: RigidBody, X3D Tooltips: RigidBody, X3D Scene Authoring Hints

  • Method Summary

    Modifier and Type Method Description
    void addGeometry​(X3DNode[] newValue)
    Add array of child geometry nodes to array of existing nodes (if any).
    float getAngularDampingFactor()
    Provide float value from inputOutput SFFloat field named angularDampingFactor.
    float[] getAngularVelocity()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named angularVelocity.
    boolean getAutoDamp()
    Provide boolean value from inputOutput SFBool field named autoDamp.
    boolean getAutoDisable()
    Provide boolean value from inputOutput SFBool field named autoDisable.
    float[] getCenterOfMass()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named centerOfMass.
    float getDisableAngularSpeed()
    Provide float value from inputOutput SFFloat field named disableAngularSpeed.
    float getDisableLinearSpeed()
    Provide float value from inputOutput SFFloat field named disableLinearSpeed.
    double getDisableTime()
    Provide double value in seconds within allowed range of [0,infinity) from inputOutput SFTime field named disableTime.
    boolean getEnabled()
    Provide boolean value from inputOutput SFBool field named enabled.
    float[] getFiniteRotationAxis()
    Provide array of 3-tuple float results unit axis, angle (in radians) from inputOutput SFVec3f field named finiteRotationAxis.
    boolean getFixed()
    Provide boolean value from inputOutput SFBool field named fixed.
    float[] getForces()
    Provide array of 3-tuple float results from inputOutput MFVec3f field named forces.
    X3DNode[] getGeometry()
    Provide array of X3DNode results (using an array consisting of properly typed nodes or ProtoInstanceObjects) from inputOutput MFNode field geometry.
    float[] getInertia()
    Provide array of float results from inputOutput SFMatrix3f field named inertia.
    float getLinearDampingFactor()
    Provide float value from inputOutput SFFloat field named linearDampingFactor.
    float[] getLinearVelocity()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named linearVelocity.
    float getMass()
    Provide float value from inputOutput SFFloat field named mass.
    X3DNode getMassDensityModel()
    Provide X3DNode instance (using a properly typed node) with acceptable node types limited to Sphere|Box|Cone, from inputOutput SFNode field massDensityModel.
    X3DMetadataObject getMetadata()
    Provide X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.
    float[] getOrientation()
    Provide array of 4-tuple float results unit axis, angle (in radians) from inputOutput SFRotation field named orientation.
    float[] getPosition()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named position.
    float[] getTorques()
    Provide array of 3-tuple float results from inputOutput MFVec3f field named torques.
    boolean getUseFiniteRotation()
    Provide boolean value unit axis, angle (in radians) from inputOutput SFBool field named useFiniteRotation.
    boolean getUseGlobalGravity()
    Provide boolean value from inputOutput SFBool field named useGlobalGravity.
    RigidBody setAngularDampingFactor​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named angularDampingFactor.
    RigidBody setAngularVelocity​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named angularVelocity.
    RigidBody setAutoDamp​(boolean newValue)
    Accessor method to assign boolean value to inputOutput SFBool field named autoDamp.
    RigidBody setAutoDisable​(boolean newValue)
    Accessor method to assign boolean value to inputOutput SFBool field named autoDisable.
    RigidBody setCenterOfMass​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named centerOfMass.
    RigidBody setDisableAngularSpeed​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named disableAngularSpeed.
    RigidBody setDisableLinearSpeed​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named disableLinearSpeed.
    RigidBody setDisableTime​(double newValue)
    Accessor method to assign double value in seconds to inputOutput SFTime field named disableTime.
    RigidBody setEnabled​(boolean newValue)
    Accessor method to assign boolean value to inputOutput SFBool field named enabled.
    RigidBody setFiniteRotationAxis​(float[] newValue)
    Accessor method to assign 3-tuple float array unit axis, angle (in radians) to inputOutput SFVec3f field named finiteRotationAxis.
    RigidBody setFixed​(boolean newValue)
    Accessor method to assign boolean value to inputOutput SFBool field named fixed.
    RigidBody setForces​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput MFVec3f field named forces.
    void setGeometry​(X3DNode newValue)
    Set single child geometry node, replacing prior array of existing nodes (if any).
    RigidBody setGeometry​(X3DNode[] newValue)
    Accessor method to assign X3DNode array (using an array consisting of properly typed nodes or ProtoInstanceObjects) to inputOutput MFNode field geometry.
    RigidBody setInertia​(float[] newValue)
    Accessor method to assign float array to inputOutput SFMatrix3f field named inertia.
    RigidBody setLinearDampingFactor​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named linearDampingFactor.
    RigidBody setLinearVelocity​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named linearVelocity.
    RigidBody setMass​(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named mass.
    RigidBody setMassDensityModel​(X3DNode newValue)
    Accessor method to assign X3DNode instance (using a properly typed node) to inputOutput SFNode field massDensityModel. // newValueInstanceAcceptableNodeTypesTest checks are needed for methods that override/subset X3DNode interfaces #1 boolean isNodeTypeAllowed = (((X3DConcreteNode)newValue) instanceof org.web3d.x3d.jsail.Geometry3D.SphereObject) || (((X3DConcreteNode)newValue) instanceof org.web3d.x3d.jsail.Geometry3D.BoxObject) || (((X3DConcreteNode)newValue) instanceof org.web3d.x3d.jsail.Geometry3D.ConeObject); if (!
    RigidBody setMetadata​(X3DMetadataObject newValue)
    Accessor method to assign X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.
    RigidBody setOrientation​(float[] newValue)
    Accessor method to assign 4-tuple float array unit axis, angle (in radians) to inputOutput SFRotation field named orientation.
    RigidBody setPosition​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named position.
    RigidBody setTorques​(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput MFVec3f field named torques.
    RigidBody setUseFiniteRotation​(boolean newValue)
    Accessor method to assign boolean value unit axis, angle (in radians) to inputOutput SFBool field named useFiniteRotation.
    RigidBody setUseGlobalGravity​(boolean newValue)
    Accessor method to assign boolean value to inputOutput SFBool field named useGlobalGravity.

  • Method Details

    • getAngularDampingFactor

      float getAngularDampingFactor()
      Provide float value from inputOutput SFFloat field named angularDampingFactor.

      Tooltip: [0,1] angularDampingFactor automatically damps a portion of body motion over time. *
      Returns:
      value of angularDampingFactor field

    • setAngularDampingFactor

      RigidBody setAngularDampingFactor​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named angularDampingFactor.

      Tooltip: [0,1] angularDampingFactor automatically damps a portion of body motion over time. *
      Parameters:
      newValue - is new value for the angularDampingFactor field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getAngularVelocity

      float[] getAngularVelocity()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named angularVelocity.

      Tooltip: angularVelocity sets constant velocity value to object every frame, and reports updates by physics model.
      • Hint: initial value only applied during first frame if forces applied.
      • Warning: instantaneous velocity changes may lead to numerical instability.
      Returns:
      value of angularVelocity field

    • setAngularVelocity

      RigidBody setAngularVelocity​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named angularVelocity.

      Tooltip: angularVelocity sets constant velocity value to object every frame, and reports updates by physics model.
      • Hint: initial value only applied during first frame if forces applied.
      • Warning: instantaneous velocity changes may lead to numerical instability.
      Parameters:
      newValue - is new value for the angularVelocity field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getAutoDamp

      boolean getAutoDamp()
      Provide boolean value from inputOutput SFBool field named autoDamp.

      Tooltip: autoDamp enables/disables angularDampingFactor and linearDampingFactor. *
      Returns:
      value of autoDamp field

    • setAutoDamp

      RigidBody setAutoDamp​(boolean newValue)
      Accessor method to assign boolean value to inputOutput SFBool field named autoDamp.

      Tooltip: autoDamp enables/disables angularDampingFactor and linearDampingFactor. *
      Parameters:
      newValue - is new value for the autoDamp field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getAutoDisable

      boolean getAutoDisable()
      Provide boolean value from inputOutput SFBool field named autoDisable.

      Tooltip: autoDisable toggles operation of disableAngularSpeed, disableLinearSpeed, disableTime. *
      Returns:
      value of autoDisable field

    • setAutoDisable

      RigidBody setAutoDisable​(boolean newValue)
      Accessor method to assign boolean value to inputOutput SFBool field named autoDisable.

      Tooltip: autoDisable toggles operation of disableAngularSpeed, disableLinearSpeed, disableTime. *
      Parameters:
      newValue - is new value for the autoDisable field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getCenterOfMass

      float[] getCenterOfMass()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named centerOfMass.

      Tooltip: centerOfMass defines local center of mass for physics calculations. *
      Returns:
      value of centerOfMass field

    • setCenterOfMass

      RigidBody setCenterOfMass​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named centerOfMass.

      Tooltip: centerOfMass defines local center of mass for physics calculations. *
      Parameters:
      newValue - is new value for the centerOfMass field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getDisableAngularSpeed

      float getDisableAngularSpeed()
      Provide float value from inputOutput SFFloat field named disableAngularSpeed.

      Tooltip: [0,+infinity) disableAngularSpeed defines lower-limit tolerance value when body is considered at rest and not part of rigid body calculations, reducing numeric instabilities.
      • Hint: only activated if autoDisable='true'.
      Returns:
      value of disableAngularSpeed field

    • setDisableAngularSpeed

      RigidBody setDisableAngularSpeed​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named disableAngularSpeed.

      Tooltip: [0,+infinity) disableAngularSpeed defines lower-limit tolerance value when body is considered at rest and not part of rigid body calculations, reducing numeric instabilities.
      • Hint: only activated if autoDisable='true'.
      Parameters:
      newValue - is new value for the disableAngularSpeed field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getDisableLinearSpeed

      float getDisableLinearSpeed()
      Provide float value from inputOutput SFFloat field named disableLinearSpeed.

      Tooltip: [0,+infinity) disableLinearSpeed defines lower-limit tolerance value when body is considered at rest and not part of rigid body calculation, reducing numeric instabilitiess.
      • Hint: only activated if autoDisable='true'.
      Returns:
      value of disableLinearSpeed field

    • setDisableLinearSpeed

      RigidBody setDisableLinearSpeed​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named disableLinearSpeed.

      Tooltip: [0,+infinity) disableLinearSpeed defines lower-limit tolerance value when body is considered at rest and not part of rigid body calculation, reducing numeric instabilitiess.
      • Hint: only activated if autoDisable='true'.
      Parameters:
      newValue - is new value for the disableLinearSpeed field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getDisableTime

      double getDisableTime()
      Provide double value in seconds within allowed range of [0,infinity) from inputOutput SFTime field named disableTime.

      Tooltip: [0,+infinity) disableTime defines interval when body becomes at rest and not part of rigid body calculations, reducing numeric instabilities.
      • Hint: only activated if autoDisable='true'
      • Hint: disableTime is an SFTime duration interval, not an absolute clock time.
      Returns:
      value of disableTime field

    • setDisableTime

      RigidBody setDisableTime​(double newValue)
      Accessor method to assign double value in seconds to inputOutput SFTime field named disableTime.

      Tooltip: [0,+infinity) disableTime defines interval when body becomes at rest and not part of rigid body calculations, reducing numeric instabilities.
      • Hint: only activated if autoDisable='true'
      • Hint: disableTime is an SFTime duration interval, not an absolute clock time.
      Parameters:
      newValue - is new value for the disableTime field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getEnabled

      boolean getEnabled()
      Provide boolean value from inputOutput SFBool field named enabled.

      Tooltip: Enables/disables node operation. *
      Returns:
      value of enabled field

    • setEnabled

      RigidBody setEnabled​(boolean newValue)
      Accessor method to assign boolean value to inputOutput SFBool field named enabled.

      Tooltip: Enables/disables node operation. *
      Parameters:
      newValue - is new value for the enabled field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getFiniteRotationAxis

      float[] getFiniteRotationAxis()
      Provide array of 3-tuple float results unit axis, angle (in radians) from inputOutput SFVec3f field named finiteRotationAxis.

      Tooltip: finiteRotationAxis specifies vector around which the object rotates. *
      Returns:
      value of finiteRotationAxis field

    • setFiniteRotationAxis

      RigidBody setFiniteRotationAxis​(float[] newValue)
      Accessor method to assign 3-tuple float array unit axis, angle (in radians) to inputOutput SFVec3f field named finiteRotationAxis.

      Tooltip: finiteRotationAxis specifies vector around which the object rotates. *
      Parameters:
      newValue - is new value for the finiteRotationAxis field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getFixed

      boolean getFixed()
      Provide boolean value from inputOutput SFBool field named fixed.

      Tooltip: fixed indicates whether body is able to move.
      • Hint: fixed is useful for indicating objects that do not move: walls, ground, etc.
      Returns:
      value of fixed field

    • setFixed

      RigidBody setFixed​(boolean newValue)
      Accessor method to assign boolean value to inputOutput SFBool field named fixed.

      Tooltip: fixed indicates whether body is able to move.
      • Hint: fixed is useful for indicating objects that do not move: walls, ground, etc.
      Parameters:
      newValue - is new value for the fixed field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getForces

      float[] getForces()
      Provide array of 3-tuple float results from inputOutput MFVec3f field named forces.

      Tooltip: forces defines linear force values applied to the object every frame. *
      Returns:
      value of forces field

    • setForces

      RigidBody setForces​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput MFVec3f field named forces.

      Tooltip: forces defines linear force values applied to the object every frame. *
      Parameters:
      newValue - is new value for the forces field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getGeometry

      X3DNode[] getGeometry()
      Provide array of X3DNode results (using an array consisting of properly typed nodes or ProtoInstanceObjects) from inputOutput MFNode field geometry.

      Warning: according to X3D Unified Object Model (X3DUOM), acceptable node types are limited to X3DNBodyCollidableNode.
      Returns:
      value of geometry field
      See Also:
      X3DNBodyCollidableNode

    • setGeometry

      RigidBody setGeometry​(X3DNode[] newValue)
      Accessor method to assign X3DNode array (using an array consisting of properly typed nodes or ProtoInstanceObjects) to inputOutput MFNode field geometry.

      Note: according to X3D Unified Object Model (X3DUOM), acceptable node types are limited to X3DNBodyCollidableNode.
      Parameters:
      newValue - is new value for the geometry field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • addGeometry

      void addGeometry​(X3DNode[] newValue)
      Add array of child geometry nodes to array of existing nodes (if any).

      Note: according to X3D Unified Object Model (X3DUOM), acceptable node types are limited to X3DNBodyCollidableNode.
      Parameters:
      newValue - is new value array to be appended the geometry field.

    • setGeometry

      void setGeometry​(X3DNode newValue)
      Set single child geometry node, replacing prior array of existing nodes (if any).
      Parameters:
      newValue - is new node for the geometry field

    • getInertia

      float[] getInertia()
      Provide array of float results from inputOutput SFMatrix3f field named inertia.

      Tooltip: inertia matrix defines a 3x2 inertia tensor matrix.
      • Warning: only the first 6 values are used.
      Returns:
      value of inertia field

    • setInertia

      RigidBody setInertia​(float[] newValue)
      Accessor method to assign float array to inputOutput SFMatrix3f field named inertia.

      Tooltip: inertia matrix defines a 3x2 inertia tensor matrix.
      • Warning: only the first 6 values are used.
      Parameters:
      newValue - is new value for the inertia field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getLinearDampingFactor

      float getLinearDampingFactor()
      Provide float value from inputOutput SFFloat field named linearDampingFactor.

      Tooltip: [0,1] linearDampingFactor automatically damps a portion of body motion over time. *
      Returns:
      value of linearDampingFactor field

    • setLinearDampingFactor

      RigidBody setLinearDampingFactor​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named linearDampingFactor.

      Tooltip: [0,1] linearDampingFactor automatically damps a portion of body motion over time. *
      Parameters:
      newValue - is new value for the linearDampingFactor field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getLinearVelocity

      float[] getLinearVelocity()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named linearVelocity.

      Tooltip: linearVelocity sets constant velocity value to object every frame, and reports updates by physics model.
      • Hint: initial value only applied during first frame if forces applied.
      • Warning: instantaneous velocity changes may lead to numerical instability.
      Returns:
      value of linearVelocity field

    • setLinearVelocity

      RigidBody setLinearVelocity​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named linearVelocity.

      Tooltip: linearVelocity sets constant velocity value to object every frame, and reports updates by physics model.
      • Hint: initial value only applied during first frame if forces applied.
      • Warning: instantaneous velocity changes may lead to numerical instability.
      Parameters:
      newValue - is new value for the linearVelocity field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getMass

      float getMass()
      Provide float value from inputOutput SFFloat field named mass.

      Tooltip: (0,1] mass of the body in kilograms.
      Returns:
      value of mass field

    • setMass

      RigidBody setMass​(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named mass.

      Tooltip: (0,1] mass of the body in kilograms.
      Parameters:
      newValue - is new value for the mass field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getMassDensityModel

      X3DNode getMassDensityModel()
      Provide X3DNode instance (using a properly typed node) with acceptable node types limited to Sphere|Box|Cone, from inputOutput SFNode field massDensityModel.
      Returns:
      value of massDensityModel field

    • setMassDensityModel

      RigidBody setMassDensityModel​(X3DNode newValue)
      Accessor method to assign X3DNode instance (using a properly typed node) to inputOutput SFNode field massDensityModel. // newValueInstanceAcceptableNodeTypesTest checks are needed for methods that override/subset X3DNode interfaces #1 boolean isNodeTypeAllowed = (((X3DConcreteNode)newValue) instanceof org.web3d.x3d.jsail.Geometry3D.SphereObject) || (((X3DConcreteNode)newValue) instanceof org.web3d.x3d.jsail.Geometry3D.BoxObject) || (((X3DConcreteNode)newValue) instanceof org.web3d.x3d.jsail.Geometry3D.ConeObject); if (!isNodeTypeAllowed) { throw new org.web3d.x3d.sai.InvalidFieldValueException("X3DNode newValue is not instanceof " + "acceptableNodeTypes Sphere|Box|Cone; newValue=" + newValue); }
      Parameters:
      newValue - is new value for the massDensityModel field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getMetadata

      X3DMetadataObject getMetadata()
      Provide X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.

      Tooltip: [X3DMetadataObject] Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
      Specified by:
      getMetadata in interface X3DNode
      Returns:
      value of metadata field
      See Also:
      X3D Scene Authoring Hints: Metadata Nodes

    • setMetadata

      RigidBody setMetadata​(X3DMetadataObject newValue)
      Accessor method to assign X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.

      Tooltip: [X3DMetadataObject] Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
      Specified by:
      setMetadata in interface X3DNode
      Parameters:
      newValue - is new value for the metadata field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      See Also:
      X3D Scene Authoring Hints: Metadata Nodes

    • getOrientation

      float[] getOrientation()
      Provide array of 4-tuple float results unit axis, angle (in radians) from inputOutput SFRotation field named orientation.

      Tooltip: orientation sets body direction in world space, then reports physics updates. *
      Returns:
      value of orientation field

    • setOrientation

      RigidBody setOrientation​(float[] newValue)
      Accessor method to assign 4-tuple float array unit axis, angle (in radians) to inputOutput SFRotation field named orientation.

      Tooltip: orientation sets body direction in world space, then reports physics updates. *
      Parameters:
      newValue - is new value for the orientation field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getPosition

      float[] getPosition()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named position.

      Tooltip: position sets body location in world space, then reports physics updates. *
      Returns:
      value of position field

    • setPosition

      RigidBody setPosition​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named position.

      Tooltip: position sets body location in world space, then reports physics updates. *
      Parameters:
      newValue - is new value for the position field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getTorques

      float[] getTorques()
      Provide array of 3-tuple float results from inputOutput MFVec3f field named torques.

      Tooltip: torques defines rotational force values applied to the object every frame. *
      Returns:
      value of torques field

    • setTorques

      RigidBody setTorques​(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput MFVec3f field named torques.

      Tooltip: torques defines rotational force values applied to the object every frame. *
      Parameters:
      newValue - is new value for the torques field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getUseFiniteRotation

      boolean getUseFiniteRotation()
      Provide boolean value unit axis, angle (in radians) from inputOutput SFBool field named useFiniteRotation.

      Tooltip: useFiniteRotation enables/disables higher-resolution, higher-cost computational method for calculating rotations. *
      Returns:
      value of useFiniteRotation field

    • setUseFiniteRotation

      RigidBody setUseFiniteRotation​(boolean newValue)
      Accessor method to assign boolean value unit axis, angle (in radians) to inputOutput SFBool field named useFiniteRotation.

      Tooltip: useFiniteRotation enables/disables higher-resolution, higher-cost computational method for calculating rotations. *
      Parameters:
      newValue - is new value for the useFiniteRotation field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getUseGlobalGravity

      boolean getUseGlobalGravity()
      Provide boolean value from inputOutput SFBool field named useGlobalGravity.

      Tooltip: useGlobalGravity indicates whether this particular body is influenced by parent RigidBodyCollection's gravity setting.
      • Hint: contained sub-bodies are not affected by this setting.
      Returns:
      value of useGlobalGravity field

    • setUseGlobalGravity

      RigidBody setUseGlobalGravity​(boolean newValue)
      Accessor method to assign boolean value to inputOutput SFBool field named useGlobalGravity.

      Tooltip: useGlobalGravity indicates whether this particular body is influenced by parent RigidBodyCollection's gravity setting.
      • Hint: contained sub-bodies are not affected by this setting.
      Parameters:
      newValue - is new value for the useGlobalGravity field.
      Returns:
      RigidBody - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).