com.bulletphysics.dynamics.constraintsolver
Class HingeConstraint

java.lang.Object
  com.bulletphysics.dynamics.constraintsolver.TypedConstraint
      com.bulletphysics.dynamics.constraintsolver.HingeConstraint

public class HingeConstraint
extends TypedConstraint

Hinge constraint between two rigid bodies each with a pivot point that descibes the axis location in local space. Axis defines the orientation of the hinge axis.

Constructor Summary

HingeConstraint()

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

HingeConstraint(RigidBody rbA, RigidBody rbB, Vector3f pivotInA, Vector3f pivotInB, Vector3f axisInA, Vector3f axisInB)

HingeConstraint(RigidBody rbA, Transform rbAFrame)

HingeConstraint(RigidBody rbA, Vector3f pivotInA, Vector3f axisInA)

Method Summary

void	buildJacobian()
void	enableAngularMotor(boolean enableMotor, float targetVelocity, float maxMotorImpulse)
Transform	getAFrame(Transform out)
boolean	getAngularOnly()
Transform	getBFrame(Transform out)
boolean	getEnableAngularMotor()
float	getHingeAngle()
float	getLimitSign()
float	getLowerLimit()
float	getMaxMotorImpulse()
float	getMotorTargetVelosity()
boolean	getSolveLimit()
float	getUpperLimit()
void	setAngularOnly(boolean angularOnly)
void	setLimit(float low, float high)
void	setLimit(float low, float high, 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

HingeConstraint

public HingeConstraint()

HingeConstraint

public HingeConstraint(RigidBody rbA,
                       RigidBody rbB,
                       Vector3f pivotInA,
                       Vector3f pivotInB,
                       Vector3f axisInA,
                       Vector3f axisInB)

HingeConstraint

public HingeConstraint(RigidBody rbA,
                       Vector3f pivotInA,
                       Vector3f axisInA)

HingeConstraint

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

HingeConstraint

public HingeConstraint(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)

getHingeAngle

public float getHingeAngle()

setAngularOnly

public void setAngularOnly(boolean angularOnly)

enableAngularMotor

public void enableAngularMotor(boolean enableMotor,
                               float targetVelocity,
                               float maxMotorImpulse)

setLimit

public void setLimit(float low,
                     float high)

setLimit

public void setLimit(float low,
                     float high,
                     float _softness,
                     float _biasFactor,
                     float _relaxationFactor)

getLowerLimit

public float getLowerLimit()

getUpperLimit

public float getUpperLimit()

getAFrame

public Transform getAFrame(Transform out)

getBFrame

public Transform getBFrame(Transform out)

getSolveLimit

public boolean getSolveLimit()

getLimitSign

public float getLimitSign()

getAngularOnly

public boolean getAngularOnly()

getEnableAngularMotor

public boolean getEnableAngularMotor()

getMotorTargetVelosity

public float getMotorTargetVelosity()

getMaxMotorImpulse

public float getMaxMotorImpulse()