com.bulletphysics.dynamics.constraintsolver
Class ConeTwistConstraint

java.lang.Object
  extended by com.bulletphysics.dynamics.constraintsolver.TypedConstraint
      extended by 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()