org.ode4j:parent
ode4j is a Java port of ODE.
ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles, objects in virtual reality environments and virtual creatures.
The latest released version of ode4j is 0.5.2, but the master branch may contain fixes and improvements. Release 0.5.0 contains all changes up to ODE 0.16.3.
Resources
ode4j contains numerous custom features that are not present in ODE (see also Wiki).
The ODE forum is useful for questions around physics and general API usage:
There is a new Discord channel around ode4j/Java.
The ode4j forum is for problems and functionality specific to ode4j/Java.
There is also the old website, including some screenshots.
There is also a GWT compatible fork of ode4j.
The following artifact contains the complete physics engine (examples etc. are not included):
<dependency>
<groupId>org.ode4j</groupId>
<artifactId>core</artifactId>
<version>0.5.2</version>
</dependency>
2023-10-07: Release 0.5.2:
2023-09-17: Release 0.5.1:
2023-05-27: Release 0.5.0. Full update to ODE 0.16.3 + Java 8 as baseline:
math package)DSpace.getGeoms() now returns DGeom instead of DxGeom.2023-03-31: Release 0.4.1 & 0.4.2. Mostly a bugfix release + some API helper methods:
DBody : addLinearVelocity()DVector3: reAdd(), eqToRadians(), eqToDegrees() (convert angles in a DVector3, eq prefix means that the
object is set equal to the result)DQuaternion: ZERO, IDENTITY, isEq(), length(), lengthSquared(), toEuler(), fromEuler(), toEulerDegrees(), fromEulerDegrees(), eqInverse(), reInverse().2019-01-03: Release 0.4.0. This release contains most of the changes that happened between ODE 0.13.1 and ODE 0.16.0, plus some original features:
2018-03-26: Snapshot release 0.4.0
2017-11-16: Snapshot release 0.4.0
2017-10-06: Release of ode4j 0.3.1
The "core" package contains the main library code. The public API is in:
org.ode4j.mathorg.ode4j.odeorg.ode4j.ode.ragdollAll other packages are "internal" and should normally not be used.
The "demo" package contains demo application for various simulation problems. The package contains the "drawstuff" library which is handy for visualizing simple physics simulation but should not be used for real applications (it is slow and clunky). Please use proper library such as lwjgl for your own games or simulations.
The "core-cpp" and "demo-cpp" packages are legacy packages and should be ignored.
DWorld.quickStep(...) instead of DWorld.step(). The latter is slower and appears to be less stable.DemoCrash.
The demo disables boxes that have not moved for a few steps. If a whole "island" of bodies is disabled, it is automatically excluded from simulation (bodies are automatically re-enabled when necessary), see also ODE wiki.OdeConfig.dDEBUG = true for debugging and = false for best performance.mvn will automatically use theon-jdk-9-plus profile and create modules.DContact objects.
To avoid this, these objects can be nullified and reused. See PerfCards.nearCallback() for an example.While ode4j is a pretty literal port from ODE, there are some considerable differences (besides one being Java and the other being C++). Some differences concern the API, others are mostly internal.
./configure --enable-double-precision --with-trimesh=gimpact --enable-libccd. That means:
double precision throughoutGIMPACT trimeshes, OPCODE is not supportedlibccd for collisionsode4j contains some custom features that are not present in ODE (see also Wiki):
DRagdoll & DConstrainedBallJoint,
see DemoRagdoll and
DemoJointConstrainedBall.DTrimeshHeightfield with support for holes.
See DemoTrimeshHeightfield.SapSpace2) implementation that allows labelling bodies as "immobile",
see SpacePerformanceTest.SpacePerformanceTest.DemoMultithreading.ode4j's API is very similar to ODE's API, so most tutorials / demos should be easily translatable. However, there are some notable differences:
Almost all objects in ode4j are created via the OdeHelper class.
Math functions are located in ode4j.math and OdeMath. ode4j has different versions for some math objects,
e.g. DVector3 and DVector3C where the trailing C indicates an immutable or Const version of the object.
Class names in ode4j start with D instead of d in ODE. d...ID classes have been removed,
use d... instead, e.g. dBodyID becomes DBody.
ODE uses almost exclusively static methods. ode4j uses instead methods on objects where possible and methods have been renamed accordingly and their signature changed. Some examples:
dGeomSetRotation(geom, ...) becomes geom.setRotation(...)dJointSetHingeAxis(hingeJoint, ...) becomes hingeJoint.setAxis(...)Many ODE methods have a skip parameter, this has been removed in ode4j.
dCollide becomes OdeHelper.collide() and takes as argument a DContactGeomBuffer.
This can be created via:
DContactBuffer contacts = new DContactBuffer(MAX_CONTACTS);
OdeHelper.collide (o1, o2, MAX_CONTACTS, contacts.getGeomBuffer());
Many classes have a "DESTRUCTOR" that replicates some C++ features, however this can usually be ignored.
ROWPTRS = falseode4j versions and corresponding ODE versions:
ode4j: Copyright (c) 2009-2023 Tilmann Zäschke <ode4j(AT)gmx.de>. All rights reserved.
Like the original ODE, ode4j is licensed under LGPL v2.1 and BSD 3-clause. Choose whichever license suits your needs.
ODE/OpenDE: Copyright (c) 2001,2002 Russell L. Smith All rights reserved.
GIMPACT (part of ODE/OpenDE): Copyright of GIMPACT (c) 2006 Francisco Leon. C.C. 80087371. email: projectileman(AT)yahoo.com
LIBCCD: Copyright (c) 2010 Daniel Fiser <danfis(AT)danfis.cz>; 3-clause BSD License
Turbulenz Engine: Copyright (c) 2009-2014 Turbulenz Limited; MIT License
Tilmann Zaeschke ode4j (AT) gmx.de
Please let me know if I missed anyone!
FAQs
Java 3D Physics Engine and Library.
We found that org.ode4j:parent demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 0 open source maintainers collaborating on the project.
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