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msim
Class MSim

java.lang.Object
  msim.MSim

@ThreadSafe public class MSim
extends java.lang.Object
extends java.lang.Object

MSim entry point.

MSim may either be used as a stand-alone application or a library (TBD applet, webstart). See examples/Example1.java for an example of using it as a Java library. TBD do a similar example in JScheme.

The main(java.lang.String[]) function in this class is the entry point when running MSim as an application.

Command Line Arguments

-nodisplay: if a UI is going to be created, then don't include a graphical Display
-nojscheme: if a UI is going to be created, then don't include a JScheme interpreter (the JScheme interpreter, if any, is always considered part of the UI)
-noui: don't bring up any UI at all
-dump-config: just do a dependency check and dump configuration informatoin, then exit
*.scm: a JScheme file to be loaded, in order, except UI.JS_INIT, if listed, is always loaded first

Java System Properties

These are used no matter how MSim is run.

msim.loglevel=levelname override DEF_LOG_LEVEL, where levelname is the non-localized name of a java.util.logging.Level, case insensitive
JOGLDisplay properties under the classname msim.display

Author:: Marsette A. Vona, III

Field Summary
`protected static java.applet.Applet`	`applet` A reference to the `MSimApplet` instance iff running as an applet.
`static java.lang.String`	`APPNAME` the application name
`static java.lang.String`	`APPNAME_LC` the application name, all lower case
`protected static java.lang.String[]`	`arg` the invocation args, null if none
`protected static Controller`	`controller` the `Controller` instance
`private static java.lang.String`	`cvsid`
`static java.util.logging.Level`	`DEF_LOG_LEVEL` default log level
`protected static double[]`	`gravity` Gravity vector, or null if none.
`protected static boolean`	`gravityEnabled` gating enable for `gravity`
`static java.lang.String`	`ICON_DIR` Directory containing `ICON_FILES` relative to application base package.
`static java.lang.String[]`	`ICON_FILES` icons to load in `getIcons()`
`protected java.util.List<java.awt.Image>`	`icons` the icons loaded lazily by `getIcons()`
`static java.lang.String`	`JLAPACK_CLASS` representative class name
`static java.lang.String`	`JSCHEME_GPC_CLASS` representative class name
`protected static Linkage`	`linkage` the top-level `Linkage` instance
`static vona.log.Log`	`LOG` application-wide log
`protected static MSim`	`msim` the singleton instance of the application object
`protected static java.lang.Object`	`msimVersion` `Version`s, stored as Object in case VonaUtils is not available.
`static java.lang.String[]`	`NETLIB_JAVA_CLASSES` representative class names
`static int`	`nextAnonymousJointNumber` used to make unique names
`static int`	`nextAnonymousLinkageNumber` used to make unique names
`static int`	`nextAnonymousLinkNumber` used to make unique names
`protected static java.awt.Container`	`parentContainer` the parent container, e.g.
`protected static UI`	`ui` the UI instance
`static java.util.regex.Pattern`	`VALID_NAME_CONT_PATTERN` Regex matching valid model entity names.
`static java.lang.String`	`VALID_NAME_CONT_REGEX`
`static java.util.regex.Pattern`	`VALID_NAME_PATTERN` Regex matching valid model entity names.
`static java.lang.String`	`VALID_NAME_REGEX`
`static java.util.regex.Pattern`	`VALID_NAME_START_PATTERN` Regex matching valid model entity names.
`static java.lang.String`	`VALID_NAME_START_REGEX`
`static java.lang.String`	`VONAUTILS_CLASS` representative class name
`protected static java.lang.Object`	`vonaUtilsVersion` `Version`s, stored as Object in case VonaUtils is not available.
`protected static boolean`	`withDisplay` whether to create a graphical `Display`
`protected static boolean`	`withJScheme` whether to create a JScheme interpreter
`protected static boolean`	`withUI` whether to create a `UI`

Constructor Summary
`MSim()` sets only `msim`
`MSim(boolean withDisplay, boolean withJScheme)` Constructor, enforces singleton instance.

Method Summary
`void`	`appletDestroy(java.applet.Applet applet)` Applet destroy method.
`boolean`	`checkDependencies()` `checkDependencies(PrintStream)` using System.err
`boolean`	`checkDependencies(java.io.PrintStream errorStream)` Check for the presence of all dependencies.
`static void`	`clearAll()` aliases eponymous method in `linkage`
`static int[]`	`collectTreeMetrics()` aliases eponymous method in `getUltimateGroundLink()`
`static int[]`	`collectTreeMetrics(int[] metrics)` aliases eponymous method in `getUltimateGroundLink()`
`static boolean`	`disableGravity()` `setGravityEnabled(boolean)` false
`static void`	`dumpAllLinkages()` aliases eponymous method in `linkage`
`void`	`dumpConfig()` `dumpConfig(java.io.PrintStream)` to System.out
`void`	`dumpConfig(java.io.PrintStream s)` dump all config
`static void`	`dumpJ3D3DSProperties()` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library to System.out
`static void`	`dumpJ3D3DSProperties(java.io.PrintStream s)` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library
`static void`	`dumpJ3DProperties()` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library to System.out
`static void`	`dumpJ3DProperties(java.io.PrintStream s)` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library
`static void`	`dumpJ3DVRML97Properties()` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library to System.out
`static void`	`dumpJ3DVRML97Properties(java.io.PrintStream s)` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library
`static void`	`dumpJOGLProperties()` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library to System.out
`static void`	`dumpJOGLProperties(java.io.PrintStream s)` `dumpPackageProperties(java.lang.String, java.io.PrintStream)` for indicated library
`void`	`dumpLibraryVersionInfo()` `dumpLibraryVersionInfo(PrintStream)` to System.out
`void`	`dumpLibraryVersionInfo(java.io.PrintStream s)` dump library version info
`protected static void`	`dumpPackageProperties(java.lang.String pkgClass, java.io.PrintStream s)` Dump package manifest properties.
`static void`	`dumpRuntime()` `dumpRuntime(PrintStream)` to System.out
`static void`	`dumpRuntime(java.io.PrintStream s)` dump key parameters of the JVM `Runtime`
`static void`	`dumpSystemProperties()` dump system properties to System.out
`static void`	`dumpSystemProperties(java.io.PrintStream s)` dump system properties
`static void`	`dumpTerminalProperties()` `dumpTerminalProperties(PrintStream)` to System.out
`static void`	`dumpTerminalProperties(java.io.PrintStream s)` dump console terminal properties
`static void`	`dumpTree()` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`dumpTree(java.io.PrintStream s)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`dumpTreeMetrics()` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`dumpTreeMetrics(java.io.PrintStream s)` aliases eponymous method in `getUltimateGroundLink()`
`void`	`dumpVersionInfo()` `dumpVersionInfo(PrintStream)` to System.out
`void`	`dumpVersionInfo(java.io.PrintStream s)` dump version info
`static void`	`enableDBGNormalsRecursively(boolean enable)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`enableDBGSpheresRecursively(boolean enable)` aliases eponymous method in `getUltimateGroundLink()`
`static boolean`	`enableGravity()` `setGravityEnabled(boolean)` true
`static void`	`enableLinkCoMWidgetsRecursively(boolean enable)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`enableSubtreeCoMWidgetsRecursively(boolean enable)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`exit()` `exit(int)` with code 0
`static void`	`exit(int code)` Try to exit cleanly.
`static Joint`	`findJoint(java.lang.String namePattern)` aliases eponymous method in `getUltimateGroundLink()`
`static Joint`	`findJoint(java.lang.String namePattern, int nth)` aliases eponymous method in `getUltimateGroundLink()`
`static java.util.Collection<Joint>`	`findJoints(java.lang.String namePattern)` aliases eponymous method in `getUltimateGroundLink()`
`static java.util.Collection<Joint>`	`findJoints(java.lang.String namePattern, java.util.Collection<Joint> joints)` aliases eponymous method in `getUltimateGroundLink()`
`static Link`	`findLink(java.lang.String namePattern)` aliases eponymous method in `getUltimateGroundLink()`
`static Link`	`findLink(java.lang.String namePattern, int nth)` aliases eponymous method in `getUltimateGroundLink()`
`static Linkage`	`findLinkage(java.lang.String namePattern)` aliases eponymous method in `linkage`
`static Linkage`	`findLinkage(java.lang.String namePattern, int nth)` aliases eponymous method in `linkage`
`static java.util.Collection<Linkage>`	`findLinkages(java.lang.String namePattern)` aliases eponymous method in `linkage`
`static java.util.Collection<Linkage>`	`findLinkages(java.lang.String namePattern, java.util.Collection<Linkage> linkages)` aliases eponymous method in `linkage`
`static java.util.Collection<Link>`	`findLinks(java.lang.String namePattern)` aliases eponymous method in `getUltimateGroundLink()`
`static java.util.Collection<Link>`	`findLinks(java.lang.String namePattern, java.util.Collection<Link> links)` aliases eponymous method in `getUltimateGroundLink()`
`static LinkageNode`	`findNode(java.lang.String namePattern)` aliases eponymous method in `getUltimateGroundLink()`
`static LinkageNode`	`findNode(java.lang.String namePattern, int nth)` aliases eponymous method in `getUltimateGroundLink()`
`static java.util.Collection<LinkageNode>`	`findNodes(java.lang.String namePattern)` aliases eponymous method in `getUltimateGroundLink()`
`static java.util.Collection<LinkageNode>`	`findNodes(java.lang.String namePattern, java.util.Collection<LinkageNode> nodes)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`garbageCollect()` request garbage collection
`static java.applet.Applet`	`getApplet()` get `applet`
`java.lang.String`	`getAppname()` get the application name
`java.lang.String`	`getAppSubname()` get the application sub-name
`static java.lang.String[]`	`getArg()` get `arg`
`static Controller`	`getController()` get `controller`
`java.lang.String`	`getFullAppname()` Get a string containing both the application name and the subname, if any.
`static double[]`	`getGravity()` covers `getGravity(double[])`, always conses
`static double[]`	`getGravity(double[] gravity)` get a copy of `gravity` or null if unset
`java.util.List<? extends java.awt.Image>`	`getIcons()` load icons lazily from `ICON_FILES`
`static java.lang.String`	`getJ3D3DSVersion()` `getPackageVersion(java.lang.String)` for indicated library
`static java.lang.String`	`getJ3DVersion()` get version for indicated library
`static java.lang.String`	`getJ3DVRML97Version()` `getPackageVersion(java.lang.String)` for indicated library
`static java.lang.String`	`getJOGLVersion()` get version for indicated library
`static java.lang.String`	`getJREVersion()` get JRE version
`static java.lang.String`	`getJVMVersion()` get JVM version
`static Linkage`	`getLinkage()` get `linkage`
`static MSim`	`getMSim()` get `msim`
`static java.lang.String`	`getMSimRevision()` get the MSim library revision
`static java.lang.String`	`getMSimVersion()` get a string containing the full MSim version
`static java.lang.String`	`getMSimVersionDate()` get the MSim library version date
`protected static java.lang.String`	`getPackageVersion(java.lang.String pkgClass)` get package manifest version
`static java.awt.Container`	`getParentContainer()` get `parentContainer`
`static java.lang.Class`	`getResourceClass()` Get the class for `getResourceURL(String)`.
`static java.net.URL`	`getResourceURL(java.lang.String resourcePath)` `getResourceURL(String, Class, boolean)` with `getResourceClass()` and don't try ancestors.
`static java.net.URL`	`getResourceURL(java.lang.String resourcePath, boolean tryAncestors)` `getResourceURL(String, Class, boolean)` with `getResourceClass()`.
`static java.net.URL`	`getResourceURL(java.lang.String resourcePath, java.lang.Class clazz)` `getResourceURL(String, Class, boolean)` and don't try ancestors.
`static java.net.URL`	`getResourceURL(java.lang.String resourcePath, java.lang.Class clazz, boolean tryAncestors)` Get the URL for resourcePath associated with clazz, or null if not found.
`java.lang.String`	`getRevision()` get application revision
`static java.lang.Object`	`getSolveParameter(java.lang.String name)` aliases eponymous method in `controller`
`static java.lang.String`	`getSystemProperty(java.lang.String property)` Covers `getSystemProperty(String, String)`, default "<undefined>".
`static boolean`	`getSystemProperty(java.lang.String property, boolean def)` Covers `getSystemProperty(String, String)`, gets a boolean.
`static int`	`getSystemProperty(java.lang.String property, int def)` covers `getSystemProperty(String, String)`, gets an int
`static java.lang.String`	`getSystemProperty(java.lang.String property, java.lang.String def)` Get the value the indicated system property.
`static UI`	`getUI()` get `ui`
`static Link`	`getUltimateGroundLink()` aliases `Linkage.getGroundLink()` in `linkage`
`java.lang.String`	`getVersion()` get a string containing the full application version
`java.lang.String`	`getVersionDate()` get application version date
`static java.lang.String`	`getVonaUtilsRevision()` get the Vona library revision
`static java.lang.String`	`getVonaUtilsVersion()` get a string containing the full VonaUtils library version
`static java.lang.String`	`getVonaUtilsVersionDate()` get the Vona library version date
`static boolean`	`hasArg(java.lang.String a)` Check for the presence of a command line argument.
`static boolean`	`hasClass(java.lang.String name)` check if the named class is available
`static boolean`	`hasJ3D()` check if Java3D is present
`static boolean`	`hasJ3D15()` check if Java3D 1.5+ is present
`static boolean`	`hasJ3D3DS()` check if Java3D 3DS loader is present
`static boolean`	`hasJ3DVRML97()` check if Java3D VRML97 loader is present
`static boolean`	`hasJLAPACK()` Check if JLAPACK is present.
`static boolean`	`hasJOGL()` check if JOGL is present
`static boolean`	`hasJSchemeGPC()` Check if JScheme-GPC is present.
`static boolean`	`hasLAPACK_JNI()` Checkif the netlib-java implementation successfully loaded a native LAPACK backend.
`static boolean`	`hasNETLIB_JAVA()` Check if netlib-java is present.
`static boolean`	`hasVonaUtils()` Check if VonaUtils is present.
`protected void`	`initJ3D()` Hook to initialize the Java3D subsystem from `instanceMain(boolean)`.
`protected void`	`initLibraries()` Hook to initialize libraries from `instanceMain(boolean)`.
`protected void`	`initLogging()` Hook to initialize the logging subsystem from `instanceMain(boolean)`.
`protected void`	`initNETLIB_JAVA()` Hook to initialize the NETLIB_JAVA subsystem from `instanceMain(boolean)`.
`static boolean`	`initOK()` See if everything is initialized.
`protected void`	`initVersions()` Hook to initialize version objects from `instanceMain(boolean)`.
`boolean`	`instanceMain()` Covers `instanceMain(boolean)`, with `UI`.
`boolean`	`instanceMain(boolean withUI)` Overrideable main method.
`static boolean`	`inUpdateThread()` aliases eponymous method in `controller`
`static boolean`	`isApplet()` check if running as an applet
`static boolean`	`isGravitySet()` check if `gravity` is non-null
`static boolean`	`isGravitySetAndEnabled()` check if gravity is both set and enabled
`static boolean`	`isWebstart()` check if running under webstart
`static javax.swing.ImageIcon`	`loadImageIconFromResource(java.lang.String path)` `loadImageIconFromResource(String, String)` using path as description.
`static javax.swing.ImageIcon`	`loadImageIconFromResource(java.lang.String path, java.lang.String description)` Try to load an image icon via `getResourceURL(String)`.
`static void`	`main(java.lang.String[] arg)` Application (as opposed to applet) init.
`protected Controller`	`makeController()` Hook to make `controller` from `instanceMain(boolean)`.
`protected Linkage`	`makeLinkage()` Hook to make `linkage` from `instanceMain(boolean)`.
`protected UI`	`makeUI()` Hook to make `ui` from `instanceMain(boolean)`.
`protected boolean`	`preMain(java.io.PrintStream out, java.io.PrintStream err)` `checkDependencies(java.io.PrintStream)` and arg and handle any off-nominal execution paths.
`static int`	`recomputeAllClosures()` aliases eponymous method in `Controller`
`static java.util.Iterator<Joint>`	`recursiveJointIterator()` aliases eponymous method in `linkage`
`static java.util.Iterator<Linkage>`	`recursiveLinkageIterator()` aliases eponymous method in `linkage`
`static java.util.Iterator<Link>`	`recursiveLinkIterator()` aliases eponymous method in `linkage`
`static boolean`	`recursivelyContains(Joint j)` aliases eponymous method in `linkage`
`static boolean`	`recursivelyContains(Link l)` aliases eponymous method in `linkage`
`static boolean`	`recursivelyContains(Linkage l)` aliases eponymous method in `linkage`
`static boolean`	`recursivelyContains(LinkageNode n)` aliases eponymous method in `linkage`
`static void`	`runUpdateTask(java.lang.Runnable task)` aliases eponymous method in `controller`
`static void`	`scheduleUpdateTask(java.lang.Runnable task)` aliases eponymous method in `controller`
`static void`	`setAllLocked(boolean locked)` aliases corresp.
`static void`	`setAllTreeJointsToGoal(int goal)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`setAllTreeJointsToHighestPrioritySoftGoal()` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`setAllTreeJointsToPosture()` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`setAllTreeJointsToTarget()` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`setCoMWidgetRadiusScaleFactorRecursively(float scaleFactor)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`setGravity(double... gravity)` Set `gravity`.
`static boolean`	`setGravityEnabled(boolean enabled)` set `gravity` gating enable
`static java.lang.Object`	`setSolveParameter(java.lang.String name, java.lang.Object value)` aliases eponymous method in `controller`
`static boolean`	`setWidgetLengthRecursively(float widgetLength)` aliases eponymous method in `getUltimateGroundLink()`
`static boolean`	`setWidgetLengthRecursively(float widgetLength, boolean updateIfDifferent)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`showMessageDialog(java.awt.Container parent, java.lang.String message)` `showMessageDialog(Container, String, int)` a `JOptionPane.PLAIN_MESSAGE`.
`static void`	`showMessageDialog(java.awt.Container parent, java.lang.String message, int messageType)` Display an informational dialog using `JOptionPane`, iff `withDisplay`.
`static void`	`showMessageDialog(java.lang.String message)` `showMessageDialog(Container, String)` using `getParentContainer()`.
`static void`	`showMessageDialog(java.lang.String message, int messageType)` `showMessageDialog(Container, String, int)` using `getParentContainer()`.
`static void`	`stateChanged()` aliases eponymous method in `controller`
`static void`	`structureChanged()` aliases eponymous method in `controller`
`static boolean`	`toggleSolveParameter(java.lang.String name)` aliases eponymous method in `controller`
`static boolean`	`traverseTree(LinkageNode.NodeHandler nodeHandler)` aliases eponymous method in `getUltimateGroundLink()`
`static void`	`unsetGravity()` set `gravity` null
`static void`	`updateAllCMTs()` aliases eponymous method in `Controller`
`static void`	`updateAllSubtreeCoMs()` aliases eponymous method in `Controller`
`static void`	`updateWidgetsRecursively()` aliases eponymous method in `getUltimateGroundLink()`

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Field Detail

cvsid

private static final java.lang.String cvsid

See Also:: Constant Field Values

APPNAME

public static final java.lang.String APPNAME

the application name

See Also:: Constant Field Values

APPNAME_LC

public static final java.lang.String APPNAME_LC

the application name, all lower case

LOG

public static final vona.log.Log LOG

application-wide log

DEF_LOG_LEVEL

public static final java.util.logging.Level DEF_LOG_LEVEL

default log level

ICON_DIR

public static final java.lang.String ICON_DIR

Directory containing ICON_FILES relative to application base package.

Omits trailing directory separator.

See Also:: Constant Field Values

ICON_FILES

public static final java.lang.String[] ICON_FILES

icons to load in getIcons()

icons

protected final java.util.List<java.awt.Image> icons

the icons loaded lazily by getIcons()

VONAUTILS_CLASS

public static final java.lang.String VONAUTILS_CLASS

representative class name

See Also:: Constant Field Values

JLAPACK_CLASS

public static final java.lang.String JLAPACK_CLASS

representative class name

See Also:: Constant Field Values

JSCHEME_GPC_CLASS

public static final java.lang.String JSCHEME_GPC_CLASS

representative class name

See Also:: Constant Field Values

NETLIB_JAVA_CLASSES

public static final java.lang.String[] NETLIB_JAVA_CLASSES

representative class names

VALID_NAME_START_REGEX

public static final java.lang.String VALID_NAME_START_REGEX

See Also:: Constant Field Values

VALID_NAME_CONT_REGEX

public static final java.lang.String VALID_NAME_CONT_REGEX

See Also:: Constant Field Values

VALID_NAME_REGEX

public static final java.lang.String VALID_NAME_REGEX

See Also:: Constant Field Values

VALID_NAME_START_PATTERN

public static final java.util.regex.Pattern VALID_NAME_START_PATTERN

Regex matching valid model entity names.

Note: internally generated names may use reserved chars.

VALID_NAME_CONT_PATTERN

public static final java.util.regex.Pattern VALID_NAME_CONT_PATTERN

Regex matching valid model entity names.

Note: internally generated names may use reserved chars.

VALID_NAME_PATTERN

public static final java.util.regex.Pattern VALID_NAME_PATTERN

Regex matching valid model entity names.

Note: internally generated names may use reserved chars.

nextAnonymousLinkageNumber

public static int nextAnonymousLinkageNumber

used to make unique names

nextAnonymousLinkNumber

public static int nextAnonymousLinkNumber

used to make unique names

nextAnonymousJointNumber

public static int nextAnonymousJointNumber

used to make unique names

gravity

protected static double[] gravity

Gravity vector, or null if none.

Magnitude gives gravitational acceleration constant. Direction is down in ground link frame.

gravityEnabled

protected static boolean gravityEnabled

gating enable for gravity

msimVersion

protected static volatile java.lang.Object msimVersion

Versions, stored as Object in case VonaUtils is not available.

vonaUtilsVersion

protected static volatile java.lang.Object vonaUtilsVersion

Versions, stored as Object in case VonaUtils is not available.

msim

protected static volatile MSim msim

the singleton instance of the application object

withDisplay

protected static volatile boolean withDisplay

whether to create a graphical Display

withJScheme

protected static volatile boolean withJScheme

whether to create a JScheme interpreter

withUI

protected static volatile boolean withUI

whether to create a UI

linkage

protected static volatile Linkage linkage

the top-level Linkage instance

controller

protected static volatile Controller controller

the Controller instance

ui

protected static volatile UI ui

the UI instance

arg

protected static volatile java.lang.String[] arg

the invocation args, null if none

parentContainer

protected static volatile java.awt.Container parentContainer

the parent container, e.g. when run as applet, null if none

applet

protected static volatile java.applet.Applet applet

A reference to the MSimApplet instance iff running as an applet.

This also serves to determine whether we were invoked as an applet as opposed to an application, see isApplet(). There does not seem to be a better way to do this.

Constructor Detail

MSim

public MSim(boolean withDisplay,
            boolean withJScheme)

Constructor, enforces singleton instance.

Sets msim, withDisplay, and withJScheme.

This does not fully set up MSim. Typically instanceMain(boolean) should be called to finish the job. Here we record whether a display and JScheme interpreter are expected to be created should a UI be made in instanceMain(boolean), mainly so that an early checkDependencies(java.io.PrintStream) can be done that checks for the requisite dependencies.

Parameters:: withDisplay - whether to expect a graphical display to be created if a UI is later created; withJScheme - whether to expect a JScheme interpreter to be created if a UI is later created
Throws:: java.lang.IllegalStateException - if MSim instance has already been created

MSim

public MSim()

sets only msim

Method Detail

getMSim

public static MSim getMSim()

get msim

getLinkage

public static Linkage getLinkage()

get linkage

getController

public static Controller getController()

get controller

getUI

public static UI getUI()

get ui

initOK

public static boolean initOK()

See if everything is initialized.

getArg

public static java.lang.String[] getArg()

get arg

getParentContainer

public static java.awt.Container getParentContainer()

get parentContainer

getApplet

public static java.applet.Applet getApplet()

get applet

isApplet

public static boolean isApplet()

check if running as an applet

isWebstart

public static boolean isWebstart()

check if running under webstart

setGravity

public static void setGravity(double... gravity)

Set gravity.

Throws:: java.lang.IllegalArgumentException - if gravity is not a 3D non-NaN vector or null

unsetGravity

public static void unsetGravity()

set gravity null

isGravitySet

public static boolean isGravitySet()

check if gravity is non-null

setGravityEnabled

public static boolean setGravityEnabled(boolean enabled)

set gravity gating enable

enableGravity

public static boolean enableGravity()

setGravityEnabled(boolean) true

disableGravity

public static boolean disableGravity()

setGravityEnabled(boolean) false

isGravitySetAndEnabled

public static boolean isGravitySetAndEnabled()

check if gravity is both set and enabled

getGravity

public static double[] getGravity(double[] gravity)

get a copy of gravity or null if unset

getGravity

public static double[] getGravity()

covers getGravity(double[]), always conses

hasVonaUtils

public static boolean hasVonaUtils()

Check if VonaUtils is present.

hasJSchemeGPC

public static boolean hasJSchemeGPC()

Check if JScheme-GPC is present.

hasJLAPACK

public static boolean hasJLAPACK()

Check if JLAPACK is present.

TBD the current implementation cannot distinguish between jlapack.jar and arpack_combined_all.jar in netlib-java (and maybe it shouldnt?).

hasNETLIB_JAVA

public static boolean hasNETLIB_JAVA()

Check if netlib-java is present.

hasLAPACK_JNI

public static boolean hasLAPACK_JNI()

Checkif the netlib-java implementation successfully loaded a native LAPACK backend.

hasJOGL

public static boolean hasJOGL()

check if JOGL is present

hasJ3D

public static boolean hasJ3D()

check if Java3D is present

hasJ3D15

public static boolean hasJ3D15()

check if Java3D 1.5+ is present

hasJ3DVRML97

public static boolean hasJ3DVRML97()

check if Java3D VRML97 loader is present

hasJ3D3DS

public static boolean hasJ3D3DS()

check if Java3D 3DS loader is present

hasClass

public static boolean hasClass(java.lang.String name)

check if the named class is available

getMSimRevision

public static java.lang.String getMSimRevision()

get the MSim library revision

getMSimVersionDate

public static java.lang.String getMSimVersionDate()

get the MSim library version date

getMSimVersion

public static java.lang.String getMSimVersion()

get a string containing the full MSim version

getVonaUtilsRevision

public static java.lang.String getVonaUtilsRevision()

get the Vona library revision

getVonaUtilsVersionDate

public static java.lang.String getVonaUtilsVersionDate()

get the Vona library version date

getVonaUtilsVersion

public static java.lang.String getVonaUtilsVersion()

get a string containing the full VonaUtils library version

dumpJ3DProperties

public static void dumpJ3DProperties(java.io.PrintStream s)

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library

dumpJ3DProperties

public static void dumpJ3DProperties()

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library to System.out

dumpJ3DVRML97Properties

public static void dumpJ3DVRML97Properties(java.io.PrintStream s)

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library

dumpJ3DVRML97Properties

public static void dumpJ3DVRML97Properties()

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library to System.out

dumpJ3D3DSProperties

public static void dumpJ3D3DSProperties(java.io.PrintStream s)

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library

dumpJ3D3DSProperties

public static void dumpJ3D3DSProperties()

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library to System.out

dumpJOGLProperties

public static void dumpJOGLProperties(java.io.PrintStream s)

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library

dumpJOGLProperties

public static void dumpJOGLProperties()

dumpPackageProperties(java.lang.String, java.io.PrintStream) for indicated library to System.out

getJ3DVersion

public static java.lang.String getJ3DVersion()

get version for indicated library

getJ3DVRML97Version

public static java.lang.String getJ3DVRML97Version()

getPackageVersion(java.lang.String) for indicated library

getJ3D3DSVersion

public static java.lang.String getJ3D3DSVersion()

getPackageVersion(java.lang.String) for indicated library

getJOGLVersion

public static java.lang.String getJOGLVersion()

get version for indicated library

getJREVersion

public static java.lang.String getJREVersion()

get JRE version

getJVMVersion

public static java.lang.String getJVMVersion()

get JVM version

dumpPackageProperties

protected static void dumpPackageProperties(java.lang.String pkgClass,
                                            java.io.PrintStream s)

Dump package manifest properties.

Parameters:: pkgClass - name of a representative class from the package

getPackageVersion

protected static java.lang.String getPackageVersion(java.lang.String pkgClass)

get package manifest version

dumpSystemProperties

public static void dumpSystemProperties(java.io.PrintStream s)

dump system properties

dumpSystemProperties

public static void dumpSystemProperties()

dump system properties to System.out

dumpRuntime

public static void dumpRuntime(java.io.PrintStream s)

dump key parameters of the JVM Runtime

dumpRuntime

public static void dumpRuntime()

dumpRuntime(PrintStream) to System.out

dumpTerminalProperties

public static void dumpTerminalProperties(java.io.PrintStream s)

dump console terminal properties

dumpTerminalProperties

public static void dumpTerminalProperties()

dumpTerminalProperties(PrintStream) to System.out

getSystemProperty

public static java.lang.String getSystemProperty(java.lang.String property,
                                                 java.lang.String def)

Get the value the indicated system property.

Parameters:: def - the default value to return if the property is not found or if there was a SecurityException in trying to get it

getSystemProperty

public static java.lang.String getSystemProperty(java.lang.String property)

Covers getSystemProperty(String, String), default "<undefined>".

getSystemProperty

public static boolean getSystemProperty(java.lang.String property,
                                        boolean def)

Covers getSystemProperty(String, String), gets a boolean.

getSystemProperty

public static int getSystemProperty(java.lang.String property,
                                    int def)

covers getSystemProperty(String, String), gets an int

showMessageDialog

public static void showMessageDialog(java.awt.Container parent,
                                     java.lang.String message,
                                     int messageType)

Display an informational dialog using JOptionPane, iff withDisplay.

showMessageDialog

public static void showMessageDialog(java.lang.String message,
                                     int messageType)

showMessageDialog(Container, String, int) using getParentContainer().

showMessageDialog

public static void showMessageDialog(java.awt.Container parent,
                                     java.lang.String message)

showMessageDialog(Container, String, int) a JOptionPane.PLAIN_MESSAGE.

showMessageDialog

public static void showMessageDialog(java.lang.String message)

showMessageDialog(Container, String) using getParentContainer().

loadImageIconFromResource

public static javax.swing.ImageIcon loadImageIconFromResource(java.lang.String path,
                                                              java.lang.String description)

Try to load an image icon via getResourceURL(String).

Returns:: the image icon or null if not found

loadImageIconFromResource

public static javax.swing.ImageIcon loadImageIconFromResource(java.lang.String path)

loadImageIconFromResource(String, String) using path as description.

getResourceURL

public static java.net.URL getResourceURL(java.lang.String resourcePath,
                                          java.lang.Class clazz,
                                          boolean tryAncestors)

Get the URL for resourcePath associated with clazz, or null if not found.

getResourceURL

public static java.net.URL getResourceURL(java.lang.String resourcePath,
                                          java.lang.Class clazz)

getResourceURL(String, Class, boolean) and don't try ancestors.

getResourceURL

public static java.net.URL getResourceURL(java.lang.String resourcePath,
                                          boolean tryAncestors)

getResourceURL(String, Class, boolean) with getResourceClass().

getResourceURL

public static java.net.URL getResourceURL(java.lang.String resourcePath)

getResourceURL(String, Class, boolean) with getResourceClass() and don't try ancestors.

getResourceClass

public static java.lang.Class getResourceClass()

Get the class for getResourceURL(String).

Default impl returns class of getMSim().

garbageCollect

public static void garbageCollect()

request garbage collection

main

public static void main(java.lang.String[] arg)

Application (as opposed to applet) init.

Default impl sets arg, conses a new msim.MSim, and chains to instanceMain(boolean).

Derived applications will need to override this to instantiate their own application object. They may also want to override instanceMain(boolean) and/or the hooks it calls.

instanceMain

public boolean instanceMain(boolean withUI)

Overrideable main method.

For applet init, see MSimApplet.init().

Default impl does initVersions(), preMain(java.io.PrintStream, java.io.PrintStream), and if reuturn is nominal

initLogging()
initLibraries()
makeLinkage()
makeController()
makeUI() if withUI
call this.notify to wake up anybody waiting for initialization to be complete (notify() will also be called before return if initialization fails)
either UI.applicationMain() or UI.appletMain(), if withUI

Parameters:: withUI - whether to make a UI (will be saved to withUI); if so then the default impl of makeUI() will make a Display iff withDisplay is set and a JScheme interpreter iff withJScheme is set.
Returns:: true if all initialization succeeded, except if withUI and withJScheme are both set (and initialiation succeeds) then this call will block until the JScheme interpreter exits, but the initialization status can be retrieved from initOK()

instanceMain

public boolean instanceMain()

Covers instanceMain(boolean), with UI.

exit

public static void exit(int code)

Try to exit cleanly.

If Controller.isUpdateThreadLive() then schedules an update task to exit. Else exits directly.

exit

public static void exit()

exit(int) with code 0

appletDestroy

public void appletDestroy(java.applet.Applet applet)

Applet destroy method.

Default impl chains to UI.appletDestroy(java.applet.Applet) on ui, if any.

getAppname

public java.lang.String getAppname()

get the application name

getAppSubname

public java.lang.String getAppSubname()

get the application sub-name

getFullAppname

public java.lang.String getFullAppname()

Get a string containing both the application name and the subname, if any.

getRevision

public java.lang.String getRevision()

get application revision

getVersionDate

public java.lang.String getVersionDate()

get application version date

getVersion

public java.lang.String getVersion()

get a string containing the full application version

dumpVersionInfo

public void dumpVersionInfo(java.io.PrintStream s)

dump version info

dumpVersionInfo

public void dumpVersionInfo()

dumpVersionInfo(PrintStream) to System.out

dumpLibraryVersionInfo

public void dumpLibraryVersionInfo(java.io.PrintStream s)

dump library version info

dumpLibraryVersionInfo

public void dumpLibraryVersionInfo()

dumpLibraryVersionInfo(PrintStream) to System.out

getIcons

public java.util.List<? extends java.awt.Image> getIcons()

load icons lazily from ICON_FILES