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).

Constructor Summary

ConeTwistConstraint()

ConeTwistConstraint(RigidBody rbA, RigidBody rbB, Transform rbAFrame, Transform rbBFrame)

ConeTwistConstraint(RigidBody rbA, Transform rbAFrame)

Method Summary

void	buildJacobian()
Transform	getAFrame(Transform out)
Transform	getBFrame(Transform out)
boolean	getSolveSwingLimit()
boolean	getSolveTwistLimit()
float	getTwistLimitSign()
void	setAngularOnly(boolean angularOnly)
void	setLimit(float _swingSpan1, float _swingSpan2, float _twistSpan)
void	setLimit(float _swingSpan1, float _swingSpan2, float _twistSpan, float _softness, float _biasFactor, float _relaxationFactor)
void	solveConstraint(float timeStep)
void	updateRHS(float timeStep)

Methods inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint

getAppliedImpulse, getConstraintType, getRigidBodyA, getRigidBodyB, getUid, getUserConstraintId, getUserConstraintType, setUserConstraintId, setUserConstraintType

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ConeTwistConstraint

public ConeTwistConstraint()

ConeTwistConstraint

public ConeTwistConstraint(RigidBody rbA,
                           RigidBody rbB,
                           Transform rbAFrame,
                           Transform rbBFrame)

ConeTwistConstraint

public ConeTwistConstraint(RigidBody rbA,
                           Transform rbAFrame)

Method Detail

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()