com.bonzaiengine.physics.constraints

Class Dof6SpringConstraint

java.lang.Object

com.bonzaiengine.physics.Constraint

com.bonzaiengine.physics.constraints.Dof6SpringConstraint

All Implemented Interfaces:

INative

public final class Dof6SpringConstraint
extends Constraint

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	Dof6SpringConstraint.RotationalLimitMotor
class	Dof6SpringConstraint.TranslationalLimitMotor

Nested classes/interfaces inherited from class com.bonzaiengine.physics.Constraint

Constraint.Type

Constructor Summary

Constructors

Constructor and Description
Dof6SpringConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB, Transform frameInA, Transform frameInB)

Method Summary

Modifier and Type	Method and Description
Vec3	getAngularLowerLimit(Vec3 dst)
Vec3	getAngularUpperLimit(Vec3 dst)
Transform	getFrameOffsetA(Transform dst)
Transform	getFrameOffsetB(Transform dst)
Vec3	getLinearLowerLimit(Vec3 dst)
Vec3	getLinearUpperLimit(Vec3 dst)
Dof6SpringConstraint.RotationalLimitMotor	getRotationalLimitMotor(int index)
void	getSpringDamping(int index)
float	getSpringStiffness(int index)
Dof6SpringConstraint.TranslationalLimitMotor	getTranslationalLimitMotor()
boolean	isSpringEnabled(int index) DOF index: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
void	setAngularLowerLimit(Vec3 angularLower)
void	setAngularUpperLimit(Vec3 angularUpper)
void	setFrames(Transform frameA, Transform frameB)
void	setLinearLowerLimit(Vec3 linearLower)
void	setLinearUpperLimit(Vec3 linearUpper)
void	setSpringDamping(int index, float damping)
void	setSpringEnabled(int index, boolean onOff)
void	setSpringStiffness(int index, float stiffness)

Methods inherited from class com.bonzaiengine.physics.Constraint

destroy, getRigidBodyA, getRigidBodyB, getType, isBreakingImpulseThreshold, isCollisionBetweenLinkedBodies, isEnabled, pivotAxisToTransform, setBreakingImpulseThreshold, setCollisionBetweenLinkedBodys, setEnabled

Methods inherited from class java.lang.Object

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

Constructor Detail

Dof6SpringConstraint

public Dof6SpringConstraint(RigidBody rigidBodyA,
                            RigidBody rigidBodyB,
                            Transform frameInA,
                            Transform frameInB)

Method Detail

getTranslationalLimitMotor

public final Dof6SpringConstraint.TranslationalLimitMotor getTranslationalLimitMotor()

getRotationalLimitMotor

public final Dof6SpringConstraint.RotationalLimitMotor getRotationalLimitMotor(int index)

getFrameOffsetA

public Transform getFrameOffsetA(Transform dst)

getFrameOffsetB

public Transform getFrameOffsetB(Transform dst)

setFrames

public void setFrames(Transform frameA,
                      Transform frameB)

getLinearLowerLimit

public final Vec3 getLinearLowerLimit(Vec3 dst)

setLinearLowerLimit

public final void setLinearLowerLimit(Vec3 linearLower)

getLinearUpperLimit

public final Vec3 getLinearUpperLimit(Vec3 dst)

setLinearUpperLimit

public final void setLinearUpperLimit(Vec3 linearUpper)

getAngularLowerLimit

public final Vec3 getAngularLowerLimit(Vec3 dst)

setAngularLowerLimit

public final void setAngularLowerLimit(Vec3 angularLower)

getAngularUpperLimit

public final Vec3 getAngularUpperLimit(Vec3 dst)

setAngularUpperLimit

public final void setAngularUpperLimit(Vec3 angularUpper)

isSpringEnabled

public boolean isSpringEnabled(int index)

DOF index: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )

setSpringEnabled

public void setSpringEnabled(int index,
                             boolean onOff)

getSpringStiffness

public float getSpringStiffness(int index)

setSpringStiffness

public void setSpringStiffness(int index,
                               float stiffness)

getSpringDamping

public void getSpringDamping(int index)

setSpringDamping

public void setSpringDamping(int index,
                             float damping)