com.bulletphysics.dynamics.constraintsolver
Class RotationalLimitMotor

java.lang.Object
  com.bulletphysics.dynamics.constraintsolver.RotationalLimitMotor

public class RotationalLimitMotor
extends Object

Rotation limit structure for generic joints.

Field Summary

float	accumulatedImpulse
float	bounce
int	currentLimit
float	currentLimitError
float	damping
boolean	enableMotor
float	ERP
float	hiLimit
float	limitSoftness
float	loLimit
float	maxLimitForce
float	maxMotorForce
float	targetVelocity

Constructor Summary

RotationalLimitMotor()

RotationalLimitMotor(RotationalLimitMotor limot)

Method Summary

boolean	isLimited() Is limited?
boolean	needApplyTorques() Need apply correction?
float	solveAngularLimits(float timeStep, Vector3f axis, float jacDiagABInv, RigidBody body0, RigidBody body1) Apply the correction impulses for two bodies.
int	testLimitValue(float test_value) Calculates error.

Methods inherited from class java.lang.Object

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

Field Detail

loLimit

public float loLimit

hiLimit

public float hiLimit

targetVelocity

public float targetVelocity

maxMotorForce

public float maxMotorForce

maxLimitForce

public float maxLimitForce

damping

public float damping

limitSoftness

public float limitSoftness

ERP

public float ERP

bounce

public float bounce

enableMotor

public boolean enableMotor

currentLimitError

public float currentLimitError

currentLimit

public int currentLimit

accumulatedImpulse

public float accumulatedImpulse

Constructor Detail

RotationalLimitMotor

public RotationalLimitMotor()

RotationalLimitMotor

public RotationalLimitMotor(RotationalLimitMotor limot)

Method Detail

isLimited

public boolean isLimited()

Is limited?

needApplyTorques

public boolean needApplyTorques()

Need apply correction?

testLimitValue

public int testLimitValue(float test_value)

Calculates error. Calculates currentLimit and currentLimitError.

solveAngularLimits

public float solveAngularLimits(float timeStep,
                                Vector3f axis,
                                float jacDiagABInv,
                                RigidBody body0,
                                RigidBody body1)

Apply the correction impulses for two bodies.