com.bulletphysics.dynamics.constraintsolver
Class ConeTwistConstraint
java.lang.Object
com.bulletphysics.dynamics.constraintsolver.TypedConstraint
com.bulletphysics.dynamics.constraintsolver.ConeTwistConstraint
public class ConeTwistConstraint
- extends TypedConstraint
ConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
ConeTwistConstraint
public ConeTwistConstraint()
ConeTwistConstraint
public ConeTwistConstraint(RigidBody rbA,
RigidBody rbB,
Transform rbAFrame,
Transform rbBFrame)
ConeTwistConstraint
public ConeTwistConstraint(RigidBody rbA,
Transform rbAFrame)
buildJacobian
public void buildJacobian()
- Specified by:
buildJacobian
in class TypedConstraint
solveConstraint
public void solveConstraint(float timeStep)
- Specified by:
solveConstraint
in class TypedConstraint
updateRHS
public void updateRHS(float timeStep)
setAngularOnly
public void setAngularOnly(boolean angularOnly)
setLimit
public void setLimit(float _swingSpan1,
float _swingSpan2,
float _twistSpan)
setLimit
public void setLimit(float _swingSpan1,
float _swingSpan2,
float _twistSpan,
float _softness,
float _biasFactor,
float _relaxationFactor)
getAFrame
public Transform getAFrame(Transform out)
getBFrame
public Transform getBFrame(Transform out)
getSolveTwistLimit
public boolean getSolveTwistLimit()
getSolveSwingLimit
public boolean getSolveSwingLimit()
getTwistLimitSign
public float getTwistLimitSign()