com.badlogic.gdx.physics.bullet.dynamics

Class btGeneric6DofConstraint

java.lang.Object

com.badlogic.gdx.physics.bullet.BulletBase

com.badlogic.gdx.physics.bullet.linearmath.btTypedObject

com.badlogic.gdx.physics.bullet.dynamics.btTypedConstraint

com.badlogic.gdx.physics.bullet.dynamics.btGeneric6DofConstraint

All Implemented Interfaces:

Disposable

Direct Known Subclasses:

btGeneric6DofSpringConstraint, btUniversalConstraint

public class btGeneric6DofConstraint
extends btTypedConstraint

Nested Class Summary

Nested classes/interfaces inherited from class com.badlogic.gdx.physics.bullet.dynamics.btTypedConstraint

btTypedConstraint.btConstraintInfo1, btTypedConstraint.btConstraintInfo2

Field Summary

Fields inherited from class com.badlogic.gdx.physics.bullet.BulletBase

className

Constructor Summary

Constructors

Constructor and Description
btGeneric6DofConstraint(btRigidBody rbA, btRigidBody rbB, Matrix4 frameInA, Matrix4 frameInB, boolean useLinearReferenceFrameA)
btGeneric6DofConstraint(btRigidBody rbB, Matrix4 frameInB, boolean useLinearReferenceFrameB)
btGeneric6DofConstraint(long cPtr, boolean cMemoryOwn) Construct a new btGeneric6DofConstraint, normally you should not need this constructor it's intended for low-level usage.

Method Summary

Modifier and Type	Method and Description
void	calcAnchorPos()
void	calculateTransforms()
void	calculateTransforms(Matrix4 transA, Matrix4 transB)
int	get_limit_motor_info2(btRotationalLimitMotor limot, Matrix4 transA, Matrix4 transB, Vector3 linVelA, Vector3 linVelB, Vector3 angVelA, Vector3 angVelB, btTypedConstraint.btConstraintInfo2 info, int row, Vector3 ax1, int rotational)
int	get_limit_motor_info2(btRotationalLimitMotor limot, Matrix4 transA, Matrix4 transB, Vector3 linVelA, Vector3 linVelB, Vector3 angVelA, Vector3 angVelB, btTypedConstraint.btConstraintInfo2 info, int row, Vector3 ax1, int rotational, int rotAllowed)
float	getAngle(int axis_index)
void	getAngularLowerLimit(Vector3 angularLower)
void	getAngularUpperLimit(Vector3 angularUpper)
Vector3	getAxis(int axis_index)
Matrix4	getCalculatedTransformA()
Matrix4	getCalculatedTransformB()
static long	getCPtr(btGeneric6DofConstraint obj)
int	getFlags()
Matrix4	getFrameOffsetA()
Matrix4	getFrameOffsetAConst()
Matrix4	getFrameOffsetB()
Matrix4	getFrameOffsetBConst()
void	getInfo1NonVirtual(btTypedConstraint.btConstraintInfo1 info)
void	getInfo2NonVirtual(btTypedConstraint.btConstraintInfo2 info, Matrix4 transA, Matrix4 transB, Vector3 linVelA, Vector3 linVelB, Vector3 angVelA, Vector3 angVelB)
void	getLinearLowerLimit(Vector3 linearLower)
void	getLinearUpperLimit(Vector3 linearUpper)
float	getParam(int num)
float	getParam(int num, int axis)
float	getRelativePivotPosition(int axis_index)
btRotationalLimitMotor	getRotationalLimitMotor(int index)
btTranslationalLimitMotor	getTranslationalLimitMotor()
boolean	getUseFrameOffset()
boolean	getUseLinearReferenceFrameA()
boolean	getUseSolveConstraintObsolete()
boolean	isLimited(int limitIndex)
void	operatorDelete(long ptr)
void	operatorDelete(long arg0, long arg1)
void	operatorDeleteArray(long ptr)
void	operatorDeleteArray(long arg0, long arg1)
long	operatorNew(long sizeInBytes)
long	operatorNew(long arg0, long ptr)
long	operatorNewArray(long sizeInBytes)
long	operatorNewArray(long arg0, long ptr)
void	setAngularLowerLimit(Vector3 angularLower)
void	setAngularUpperLimit(Vector3 angularUpper)
void	setAxis(Vector3 axis1, Vector3 axis2)
void	setFrames(Matrix4 frameA, Matrix4 frameB)
void	setLimit(int axis, float lo, float hi)
void	setLinearLowerLimit(Vector3 linearLower)
void	setLinearUpperLimit(Vector3 linearUpper)
void	setParam(int num, float value)
void	setParam(int num, float value, int axis)
void	setUseFrameOffset(boolean frameOffsetOnOff)
void	setUseLinearReferenceFrameA(boolean linearReferenceFrameA)
void	setUseSolveConstraintObsolete(boolean value)
boolean	testAngularLimitMotor(int axis_index)
void	updateRHS(float timeStep)

Methods inherited from class com.badlogic.gdx.physics.bullet.dynamics.btTypedConstraint

buildJacobian, calculateSerializeBufferSize, enableFeedback, getAppliedImpulse, getBreakingImpulseThreshold, getConstraintType, getCPtr, getDbgDrawSize, getFixedBody, getInfo1, getInfo2, getJointFeedback, getJointFeedbackConst, getOverrideNumSolverIterations, getRigidBodyA, getRigidBodyAConst, getRigidBodyB, getRigidBodyBConst, getUid, getUserConstraintId, getUserConstraintPtr, getUserConstraintType, internalGetAppliedImpulse, internalSetAppliedImpulse, isEnabled, needsFeedback, serialize, setBreakingImpulseThreshold, setDbgDrawSize, setEnabled, setJointFeedback, setOverrideNumSolverIterations, setupSolverConstraint, setUserConstraintId, setUserConstraintPtr, setUserConstraintType, solveConstraintObsolete

Methods inherited from class com.badlogic.gdx.physics.bullet.linearmath.btTypedObject

getCPtr, getObjectType, setObjectType

Methods inherited from class com.badlogic.gdx.physics.bullet.BulletBase

dispose, equals, getCPointer, hashCode, hasOwnership, isDisposed, isObtained, obtain, release, releaseOwnership, takeOwnership, toString

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btGeneric6DofConstraint

public btGeneric6DofConstraint(long cPtr,
                               boolean cMemoryOwn)

Construct a new btGeneric6DofConstraint, normally you should not need this constructor it's intended for low-level usage.

btGeneric6DofConstraint

public btGeneric6DofConstraint(btRigidBody rbA,
                               btRigidBody rbB,
                               Matrix4 frameInA,
                               Matrix4 frameInB,
                               boolean useLinearReferenceFrameA)

btGeneric6DofConstraint

public btGeneric6DofConstraint(btRigidBody rbB,
                               Matrix4 frameInB,
                               boolean useLinearReferenceFrameB)

Method Detail

getCPtr

public static long getCPtr(btGeneric6DofConstraint obj)

operatorNew

public long operatorNew(long sizeInBytes)

Overrides:

operatorNew in class btTypedConstraint

operatorDelete

public void operatorDelete(long ptr)

Overrides:

operatorDelete in class btTypedConstraint

operatorNew

public long operatorNew(long arg0,
                        long ptr)

Overrides:

operatorNew in class btTypedConstraint

operatorDelete

public void operatorDelete(long arg0,
                           long arg1)

Overrides:

operatorDelete in class btTypedConstraint

operatorNewArray

public long operatorNewArray(long sizeInBytes)

Overrides:

operatorNewArray in class btTypedConstraint

operatorDeleteArray

public void operatorDeleteArray(long ptr)

Overrides:

operatorDeleteArray in class btTypedConstraint

operatorNewArray

public long operatorNewArray(long arg0,
                             long ptr)

Overrides:

operatorNewArray in class btTypedConstraint

operatorDeleteArray

public void operatorDeleteArray(long arg0,
                                long arg1)

Overrides:

operatorDeleteArray in class btTypedConstraint

setUseSolveConstraintObsolete

public void setUseSolveConstraintObsolete(boolean value)

getUseSolveConstraintObsolete

public boolean getUseSolveConstraintObsolete()

calculateTransforms

public void calculateTransforms(Matrix4 transA,
                                Matrix4 transB)

calculateTransforms

public void calculateTransforms()

getCalculatedTransformA

public Matrix4 getCalculatedTransformA()

getCalculatedTransformB

public Matrix4 getCalculatedTransformB()

getFrameOffsetAConst

public Matrix4 getFrameOffsetAConst()

getFrameOffsetBConst

public Matrix4 getFrameOffsetBConst()

getFrameOffsetA

public Matrix4 getFrameOffsetA()

getFrameOffsetB

public Matrix4 getFrameOffsetB()

getInfo1NonVirtual

public void getInfo1NonVirtual(btTypedConstraint.btConstraintInfo1 info)

getInfo2NonVirtual

public void getInfo2NonVirtual(btTypedConstraint.btConstraintInfo2 info,
                               Matrix4 transA,
                               Matrix4 transB,
                               Vector3 linVelA,
                               Vector3 linVelB,
                               Vector3 angVelA,
                               Vector3 angVelB)

updateRHS

public void updateRHS(float timeStep)

getAxis

public Vector3 getAxis(int axis_index)

getAngle

public float getAngle(int axis_index)

getRelativePivotPosition

public float getRelativePivotPosition(int axis_index)

setFrames

public void setFrames(Matrix4 frameA,
                      Matrix4 frameB)

testAngularLimitMotor

public boolean testAngularLimitMotor(int axis_index)

setLinearLowerLimit

public void setLinearLowerLimit(Vector3 linearLower)

getLinearLowerLimit

public void getLinearLowerLimit(Vector3 linearLower)

setLinearUpperLimit

public void setLinearUpperLimit(Vector3 linearUpper)

getLinearUpperLimit

public void getLinearUpperLimit(Vector3 linearUpper)

setAngularLowerLimit

public void setAngularLowerLimit(Vector3 angularLower)

getAngularLowerLimit

public void getAngularLowerLimit(Vector3 angularLower)

setAngularUpperLimit

public void setAngularUpperLimit(Vector3 angularUpper)

getAngularUpperLimit

public void getAngularUpperLimit(Vector3 angularUpper)

getRotationalLimitMotor

public btRotationalLimitMotor getRotationalLimitMotor(int index)

getTranslationalLimitMotor

public btTranslationalLimitMotor getTranslationalLimitMotor()

setLimit

public void setLimit(int axis,
                     float lo,
                     float hi)

isLimited

public boolean isLimited(int limitIndex)

calcAnchorPos

public void calcAnchorPos()

get_limit_motor_info2

public int get_limit_motor_info2(btRotationalLimitMotor limot,
                                 Matrix4 transA,
                                 Matrix4 transB,
                                 Vector3 linVelA,
                                 Vector3 linVelB,
                                 Vector3 angVelA,
                                 Vector3 angVelB,
                                 btTypedConstraint.btConstraintInfo2 info,
                                 int row,
                                 Vector3 ax1,
                                 int rotational,
                                 int rotAllowed)

get_limit_motor_info2

public int get_limit_motor_info2(btRotationalLimitMotor limot,
                                 Matrix4 transA,
                                 Matrix4 transB,
                                 Vector3 linVelA,
                                 Vector3 linVelB,
                                 Vector3 angVelA,
                                 Vector3 angVelB,
                                 btTypedConstraint.btConstraintInfo2 info,
                                 int row,
                                 Vector3 ax1,
                                 int rotational)

getUseFrameOffset

public boolean getUseFrameOffset()

setUseFrameOffset

public void setUseFrameOffset(boolean frameOffsetOnOff)

getUseLinearReferenceFrameA

public boolean getUseLinearReferenceFrameA()

setUseLinearReferenceFrameA

public void setUseLinearReferenceFrameA(boolean linearReferenceFrameA)

setParam

public void setParam(int num,
                     float value,
                     int axis)

Overrides:

setParam in class btTypedConstraint

setParam

public void setParam(int num,
                     float value)

Overrides:

setParam in class btTypedConstraint

getParam

public float getParam(int num,
                      int axis)

Overrides:

getParam in class btTypedConstraint

getParam

public float getParam(int num)

Overrides:

getParam in class btTypedConstraint

setAxis

public void setAxis(Vector3 axis1,
                    Vector3 axis2)

getFlags

public int getFlags()