MSim

java.lang.Object
- msim.MSim

```
@ThreadSafe
public class MSim
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 information, then exit
- -version: just do a dependency check and dump version information, 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
Copyright (C) 2008 Marsette A. Vona, III
Author:

Marsette A. Vona, III

Field Summary

Fields
Modifier and Type	Field and Description
`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
`static java.lang.String[]`	`FOMMIL_NETLIB_CLASSES` representative class names
`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_VONA_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` representative class names
`static java.util.regex.Pattern`	`VALID_NAME_PATTERN` Regex matching valid model entity names.
`static java.lang.String`	`VALID_NAME_REGEX` representative class names
`static java.util.regex.Pattern`	`VALID_NAME_START_PATTERN` Regex matching valid model entity names.
`static java.lang.String`	`VALID_NAME_START_REGEX` representative class names
`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

Constructors
Constructor and Description
`MSim()` Covers `MSim(boolean, boolean)`, enables display and JScheme.
`MSim(boolean withDisplay, boolean withJScheme)` Constructor, enforces singleton instance.

Method Summary

Methods
Modifier and Type	Method and Description
`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`	`hasFOMMIL_NETLIB()` Check if fommil-netlib is present.
`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`	`hasJSchemeVona()` Check if JScheme-Vona 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_VONA_CLASS
```
public static final java.lang.String JSCHEME_VONA_CLASS
```
    representative class name
    
    See Also:
    Constant Field Values
  - NETLIB_JAVA_CLASSES
```
public static final java.lang.String[] NETLIB_JAVA_CLASSES
```
    representative class names
  - FOMMIL_NETLIB_CLASSES
```
public static final java.lang.String[] FOMMIL_NETLIB_CLASSES
```
    representative class names
  - VALID_NAME_START_REGEX
```
public static final java.lang.String VALID_NAME_START_REGEX
```
    representative class names
    
    See Also:
    Constant Field Values
  - VALID_NAME_CONT_REGEX
```
public static final java.lang.String VALID_NAME_CONT_REGEX
```
    representative class names
    
    See Also:
    Constant Field Values
  - VALID_NAME_REGEX
```
public static final java.lang.String VALID_NAME_REGEX
```
    representative class names
    
    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()
```
    Covers MSim(boolean, boolean), enables display and JScheme.
- 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.
  - hasJSchemeVona
```
public static boolean hasJSchemeVona()
```
    Check if JScheme-Vona 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.
    
    Note: what we refer to as netlib-java is actually an older version that was in the namespace org.netlib.lapack. That package has more recently been moved to the namespace com.github.fommil.netlib, which we refer to as fommil-netlib. See hasFOMMIL_NETLIB().
  - hasFOMMIL_NETLIB
```
public static boolean hasFOMMIL_NETLIB()
```
    Check if fommil-netlib is present.
    
    Note: what we refer to as fommil-netlib is actually the current version of netlib-java, which is now in the namespace com.github.fommil.netlib. See hasNETLIB_JAVA().
  - 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
    1. initLogging()
    2. initLibraries()
    3. makeLinkage()
    4. makeController()
    5. makeUI() if withUI
    6. call this.notify to wake up anybody waiting for initialization to be complete (notify() will also be called before return if initialization fails)
    7. 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
  - recursiveLinkageIterator
```
public static java.util.Iterator<Linkage> recursiveLinkageIterator()
```
    aliases eponymous method in linkage
  - findLinkage
```
public static Linkage findLinkage(java.lang.String namePattern,
                  int nth)
```
    aliases eponymous method in linkage
  - findLinkage
```
public static Linkage findLinkage(java.lang.String namePattern)
```
    aliases eponymous method in linkage
  - findLinkages
```
public static java.util.Collection<Linkage> findLinkages(java.lang.String namePattern,
                                         java.util.Collection<Linkage> linkages)
```
    aliases eponymous method in linkage
  - findLinkages
```
public static java.util.Collection<Linkage> findLinkages(java.lang.String namePattern)
```
    aliases eponymous method in linkage
  - recursivelyContains
```
public static boolean recursivelyContains(Linkage l)
```
    aliases eponymous method in linkage
  - getUltimateGroundLink
```
public static Link getUltimateGroundLink()
```
    aliases Linkage.getGroundLink() in linkage
  - recursiveLinkIterator
```
public static java.util.Iterator<Link> recursiveLinkIterator()
```
    aliases eponymous method in linkage
  - recursiveJointIterator
```
public static java.util.Iterator<Joint> recursiveJointIterator()
```
    aliases eponymous method in linkage
  - recursivelyContains
```
public static boolean recursivelyContains(Link l)
```
    aliases eponymous method in linkage
  - recursivelyContains
```
public static boolean recursivelyContains(Joint j)
```
    aliases eponymous method in linkage
  - recursivelyContains
```
public static boolean recursivelyContains(LinkageNode n)
```
    aliases eponymous method in linkage
  - recomputeAllClosures
```
public static int recomputeAllClosures()
```
    aliases eponymous method in Controller
  - clearAll
```
public static void clearAll()
```
    aliases eponymous method in linkage
  - dumpAllLinkages
```
public static void dumpAllLinkages()
```
    aliases eponymous method in linkage
  - inUpdateThread
```
public static boolean inUpdateThread()
```
    aliases eponymous method in controller
  - scheduleUpdateTask
```
public static void scheduleUpdateTask(java.lang.Runnable task)
```
    aliases eponymous method in controller
  - runUpdateTask
```
public static void runUpdateTask(java.lang.Runnable task)
                          throws java.lang.InterruptedException
```
    aliases eponymous method in controller
    
    Throws:
    
    java.lang.InterruptedException
  - structureChanged
```
public static void structureChanged()
```
    aliases eponymous method in controller
  - stateChanged
```
public static void stateChanged()
```
    aliases eponymous method in controller
  - setSolveParameter
```
public static java.lang.Object setSolveParameter(java.lang.String name,
                                 java.lang.Object value)
```
    aliases eponymous method in controller
  - getSolveParameter
```
public static java.lang.Object getSolveParameter(java.lang.String name)
```
    aliases eponymous method in controller
  - toggleSolveParameter
```
public static boolean toggleSolveParameter(java.lang.String name)
```
    aliases eponymous method in controller
  - traverseTree
```
public static boolean traverseTree(LinkageNode.NodeHandler nodeHandler)
```
    aliases eponymous method in getUltimateGroundLink()
  - updateAllCMTs
```
public static void updateAllCMTs()
```
    aliases eponymous method in Controller
  - updateAllSubtreeCoMs
```
public static void updateAllSubtreeCoMs()
```
    aliases eponymous method in Controller
  - setAllLocked
```
public static void setAllLocked(boolean locked)
```
    aliases corresp. recursive method in getUltimateGroundLink()
  - setAllTreeJointsToHighestPrioritySoftGoal
```
public static void setAllTreeJointsToHighestPrioritySoftGoal()
```
    aliases eponymous method in getUltimateGroundLink()
  - setAllTreeJointsToGoal
```
public static void setAllTreeJointsToGoal(int goal)
```
    aliases eponymous method in getUltimateGroundLink()
  - setAllTreeJointsToPosture
```
public static void setAllTreeJointsToPosture()
```
    aliases eponymous method in getUltimateGroundLink()
  - setAllTreeJointsToTarget
```
public static void setAllTreeJointsToTarget()
```
    aliases eponymous method in getUltimateGroundLink()
  - updateWidgetsRecursively
```
public static void updateWidgetsRecursively()
```
    aliases eponymous method in getUltimateGroundLink()
  - enableDBGSpheresRecursively
```
public static void enableDBGSpheresRecursively(boolean enable)
```
    aliases eponymous method in getUltimateGroundLink()
  - enableDBGNormalsRecursively
```
public static void enableDBGNormalsRecursively(boolean enable)
```
    aliases eponymous method in getUltimateGroundLink()
  - setWidgetLengthRecursively
```
public static boolean setWidgetLengthRecursively(float widgetLength,
                                 boolean updateIfDifferent)
```
    aliases eponymous method in getUltimateGroundLink()
  - setWidgetLengthRecursively
```
public static boolean setWidgetLengthRecursively(float widgetLength)
```
    aliases eponymous method in getUltimateGroundLink()
  - setCoMWidgetRadiusScaleFactorRecursively
```
public static void setCoMWidgetRadiusScaleFactorRecursively(float scaleFactor)
```
    aliases eponymous method in getUltimateGroundLink()
  - enableLinkCoMWidgetsRecursively
```
public static void enableLinkCoMWidgetsRecursively(boolean enable)
```
    aliases eponymous method in getUltimateGroundLink()
  - enableSubtreeCoMWidgetsRecursively
```
public static void enableSubtreeCoMWidgetsRecursively(boolean enable)
```
    aliases eponymous method in getUltimateGroundLink()
  - findNode
```
public static LinkageNode findNode(java.lang.String namePattern,
                   int nth)
```
    aliases eponymous method in getUltimateGroundLink()
  - findNode
```
public static LinkageNode findNode(java.lang.String namePattern)
```
    aliases eponymous method in getUltimateGroundLink()
  - findLink
```
public static Link findLink(java.lang.String namePattern,
            int nth)
```
    aliases eponymous method in getUltimateGroundLink()
  - findLink
```
public static Link findLink(java.lang.String namePattern)
```
    aliases eponymous method in getUltimateGroundLink()
  - findJoint
```
public static Joint findJoint(java.lang.String namePattern,
              int nth)
```
    aliases eponymous method in getUltimateGroundLink()
  - findJoint
```
public static Joint findJoint(java.lang.String namePattern)
```
    aliases eponymous method in getUltimateGroundLink()
  - findNodes
```
public static java.util.Collection<LinkageNode> findNodes(java.lang.String namePattern,
                                          java.util.Collection<LinkageNode> nodes)
```
    aliases eponymous method in getUltimateGroundLink()
  - findNodes
```
public static java.util.Collection<LinkageNode> findNodes(java.lang.String namePattern)
```
    aliases eponymous method in getUltimateGroundLink()
  - findLinks
```
public static java.util.Collection<Link> findLinks(java.lang.String namePattern,
                                   java.util.Collection<Link> links)
```
    aliases eponymous method in getUltimateGroundLink()
  - findLinks
```
public static java.util.Collection<Link> findLinks(java.lang.String namePattern)
```
    aliases eponymous method in getUltimateGroundLink()
  - findJoints
```
public static java.util.Collection<Joint> findJoints(java.lang.String namePattern,
                                     java.util.Collection<Joint> joints)
```
    aliases eponymous method in getUltimateGroundLink()
  - findJoints
```
public static java.util.Collection<Joint> findJoints(java.lang.String namePattern)
```
    aliases eponymous method in getUltimateGroundLink()
  - collectTreeMetrics
```
public static int[] collectTreeMetrics(int[] metrics)
```
    aliases eponymous method in getUltimateGroundLink()
  - collectTreeMetrics
```
public static int[] collectTreeMetrics()
```
    aliases eponymous method in getUltimateGroundLink()
  - dumpTree
```
public static void dumpTree(java.io.PrintStream s)
```
    aliases eponymous method in getUltimateGroundLink()
  - dumpTree
```
public static void dumpTree()
```
    aliases eponymous method in getUltimateGroundLink()
  - dumpTreeMetrics
```
public static void dumpTreeMetrics(java.io.PrintStream s)
```
    aliases eponymous method in getUltimateGroundLink()
  - dumpTreeMetrics
```
public static void dumpTreeMetrics()
```
    aliases eponymous method in getUltimateGroundLink()
  - makeLinkage
```
protected Linkage makeLinkage()
```
    Hook to make linkage from instanceMain(boolean).
  - makeController
```
protected Controller makeController()
```
    Hook to make controller from instanceMain(boolean).
  - makeUI
```
protected UI makeUI()
```
    Hook to make ui from instanceMain(boolean).
    
    Uses withDisplay and withJScheme.
  - preMain
```
protected boolean preMain(java.io.PrintStream out,
              java.io.PrintStream err)
```
    checkDependencies(java.io.PrintStream) and arg and handle any off-nominal execution paths.
    
    Parameters:
    out - the stream to use as System.out, may not actually be System.out
    err - the stream to use as System.err, may not actually be System.err
    
    Returns:
    true iff execution should continue with rest of instanceMain(boolean).
  - hasArg
```
public static boolean hasArg(java.lang.String a)
```
    Check for the presence of a command line argument.
    
    Works only after arg has been set, which is done for example in main(java.lang.String[]).
    
    Parameters:
    a - the command line argument to look for
  - checkDependencies
```
public boolean checkDependencies(java.io.PrintStream errorStream)
```
    Check for the presence of all dependencies.
    
    Parameters:
    errorStream - if not null then messages are printed here about the failures, if any
    
    Returns:
    true iff all deps present
  - checkDependencies
```
public boolean checkDependencies()
```
    checkDependencies(PrintStream) using System.err
  - dumpConfig
```
public void dumpConfig(java.io.PrintStream s)
```
    dump all config
  - dumpConfig
```
public void dumpConfig()
```
    dumpConfig(java.io.PrintStream) to System.out
  - initVersions
```
protected void initVersions()
```
    Hook to initialize version objects from instanceMain(boolean).
  - initLibraries
```
protected void initLibraries()
```
    Hook to initialize libraries from instanceMain(boolean).
    
    Default impl does initJ3D() and initNETLIB_JAVA().
  - initLogging
```
protected void initLogging()
```
    Hook to initialize the logging subsystem from instanceMain(boolean).
  - initJ3D
```
protected void initJ3D()
```
    Hook to initialize the Java3D subsystem from instanceMain(boolean).
  - initNETLIB_JAVA
```
protected void initNETLIB_JAVA()
```
    Hook to initialize the NETLIB_JAVA subsystem from instanceMain(boolean).

Class MSim

Command Line Arguments

Java System Properties

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

cvsid

APPNAME

APPNAME_LC

LOG

DEF_LOG_LEVEL

ICON_DIR

ICON_FILES

icons

VONAUTILS_CLASS

JLAPACK_CLASS

JSCHEME_VONA_CLASS

NETLIB_JAVA_CLASSES

FOMMIL_NETLIB_CLASSES

VALID_NAME_START_REGEX

VALID_NAME_CONT_REGEX

VALID_NAME_REGEX

VALID_NAME_START_PATTERN

VALID_NAME_CONT_PATTERN

VALID_NAME_PATTERN

nextAnonymousLinkageNumber

nextAnonymousLinkNumber

nextAnonymousJointNumber

gravity

gravityEnabled

msimVersion

vonaUtilsVersion

msim

withDisplay

withJScheme

withUI

linkage

controller

ui

arg

parentContainer

applet

Constructor Detail

MSim

MSim

Method Detail

getMSim

getLinkage

getController

getUI

initOK

getArg

getParentContainer

getApplet

isApplet

isWebstart

setGravity

unsetGravity

isGravitySet

setGravityEnabled

enableGravity

disableGravity

isGravitySetAndEnabled

getGravity

getGravity

hasVonaUtils

hasJSchemeVona

hasJLAPACK

hasNETLIB_JAVA

hasFOMMIL_NETLIB

hasLAPACK_JNI

hasJOGL

hasJ3D

hasJ3D15

hasJ3DVRML97

hasJ3D3DS

hasClass

getMSimRevision