org.bytedeco.bullet.Bullet3Dynamics

Class b3Generic6DofConstraint

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.Bullet3Common.b3TypedObject

org.bytedeco.bullet.Bullet3Dynamics.b3TypedConstraint

org.bytedeco.bullet.Bullet3Dynamics.b3Generic6DofConstraint

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=Bullet3Dynamics.class)
public class b3Generic6DofConstraint
extends b3TypedConstraint

b3Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space /** b3Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. currently this limit supports rotational motors

• For Linear limits, use b3Generic6DofConstraint.setLinearUpperLimit, b3Generic6DofConstraint.setLinearLowerLimit. You can set the parameters with the b3TranslationalLimitMotor structure accsesible through the b3Generic6DofConstraint.getTranslationalLimitMotor method. At this moment translational motors are not supported. May be in the future.
• For Angular limits, use the b3RotationalLimitMotor structure for configuring the limit. This is accessible through b3Generic6DofConstraint.getLimitMotor method, This brings support for limit parameters and motors.
• Angulars limits have these possible ranges:

  AXIS	MIN ANGLE	MAX ANGLE
  X	-PI	PI
  Y	-PI/2	PI/2
  Z	-PI	PI

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.bullet.Bullet3Dynamics.b3TypedConstraint

b3TypedConstraint.b3ConstraintInfo1, b3TypedConstraint.b3ConstraintInfo2

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
b3Generic6DofConstraint(int rbA, int rbB, b3Transform frameInA, b3Transform frameInB, boolean useLinearReferenceFrameA, b3RigidBodyData bodies)
b3Generic6DofConstraint(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	calcAnchorPos(b3RigidBodyData bodies)
void	calculateTransforms(b3RigidBodyData bodies)
void	calculateTransforms(b3Transform transA, b3Transform transB, b3RigidBodyData bodies) Calcs global transform of the offsets /** Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
int	get_limit_motor_info2(b3RotationalLimitMotor limot, b3Transform transA, b3Transform transB, b3Vector3 linVelA, b3Vector3 linVelB, b3Vector3 angVelA, b3Vector3 angVelB, b3TypedConstraint.b3ConstraintInfo2 info, int row, b3Vector3 ax1, int rotational)
int	get_limit_motor_info2(b3RotationalLimitMotor limot, b3Transform transA, b3Transform transB, b3Vector3 linVelA, b3Vector3 linVelB, b3Vector3 angVelA, b3Vector3 angVelB, b3TypedConstraint.b3ConstraintInfo2 info, int row, b3Vector3 ax1, int rotational, int rotAllowed)
float	getAngle(int axis_index) Get the relative Euler angle /** \pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
void	getAngularLowerLimit(b3Vector3 angularLower)
void	getAngularUpperLimit(b3Vector3 angularUpper)
b3Vector3	getAxis(int axis_index) Get the rotation axis in global coordinates
b3Transform	getCalculatedTransformA() Gets the global transform of the offset for body A /**
b3Transform	getCalculatedTransformB() Gets the global transform of the offset for body B /**
b3Transform	getFrameOffsetA()
b3Transform	getFrameOffsetB()
void	getInfo1(b3TypedConstraint.b3ConstraintInfo1 info, b3RigidBodyData bodies) internal method used by the constraint solver, don't use them directly
void	getInfo1NonVirtual(b3TypedConstraint.b3ConstraintInfo1 info, b3RigidBodyData bodies)
void	getInfo2(b3TypedConstraint.b3ConstraintInfo2 info, b3RigidBodyData bodies) internal method used by the constraint solver, don't use them directly
void	getInfo2NonVirtual(b3TypedConstraint.b3ConstraintInfo2 info, b3Transform transA, b3Transform transB, b3Vector3 linVelA, b3Vector3 linVelB, b3Vector3 angVelA, b3Vector3 angVelB, b3RigidBodyData bodies)
void	getLinearLowerLimit(b3Vector3 linearLower)
void	getLinearUpperLimit(b3Vector3 linearUpper)
float	getParam(int num)
float	getParam(int num, int axis) return the local value of parameter
float	getRelativePivotPosition(int axis_index) Get the relative position of the constraint pivot /** \pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
b3RotationalLimitMotor	getRotationalLimitMotor(int index) Retrieves the angular limit informacion
b3TranslationalLimitMotor	getTranslationalLimitMotor() Retrieves the limit informacion
boolean	getUseFrameOffset()
boolean	isLimited(int limitIndex) Test limit /** - free means upper < lower, - locked means upper == lower - limited means upper > lower - limitIndex: first 3 are linear, next 3 are angular
void	setAngularLowerLimit(b3Vector3 angularLower)
void	setAngularUpperLimit(b3Vector3 angularUpper)
void	setAxis(b3Vector3 axis1, b3Vector3 axis2, b3RigidBodyData bodies)
void	setFrames(b3Transform frameA, b3Transform frameB, b3RigidBodyData bodies)
void	setLimit(int axis, float lo, float hi)
void	setLinearLowerLimit(b3Vector3 linearLower)
void	setLinearUpperLimit(b3Vector3 linearUpper)
void	setParam(int num, float value)
void	setParam(int num, float value, int axis) override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
void	setUseFrameOffset(boolean frameOffsetOnOff)
boolean	testAngularLimitMotor(int axis_index) Test angular limit.
void	updateRHS(float timeStep)

Methods inherited from class org.bytedeco.bullet.Bullet3Dynamics.b3TypedConstraint

enableFeedback, getAppliedImpulse, getBreakingImpulseThreshold, getConstraintType, getDbgDrawSize, getJointFeedback, getOverrideNumSolverIterations, getRigidBodyA, getRigidBodyB, getUid, getUserConstraintId, getUserConstraintPtr, getUserConstraintType, internalGetAppliedImpulse, internalSetAppliedImpulse, isEnabled, needsFeedback, setBreakingImpulseThreshold, setDbgDrawSize, setEnabled, setJointFeedback, setOverrideNumSolverIterations, setupSolverConstraint, setUserConstraintId, setUserConstraintPtr, setUserConstraintType, solveConstraintObsolete

Methods inherited from class org.bytedeco.bullet.Bullet3Common.b3TypedObject

getObjectType, m_objectType, m_objectType

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

b3Generic6DofConstraint

public b3Generic6DofConstraint(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

b3Generic6DofConstraint

public b3Generic6DofConstraint(int rbA,
                               int rbB,
                               @Const @ByRef
                               b3Transform frameInA,
                               @Const @ByRef
                               b3Transform frameInB,
                               @Cast(value="bool")
                               boolean useLinearReferenceFrameA,
                               @Const
                               b3RigidBodyData bodies)

Method Detail

calculateTransforms

public void calculateTransforms(@Const @ByRef
                                b3Transform transA,
                                @Const @ByRef
                                b3Transform transB,
                                @Const
                                b3RigidBodyData bodies)

Calcs global transform of the offsets /** Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.

See Also:

, b3Generic6DofConstraint.getCalculatedTransformB, b3Generic6DofConstraint.calculateAngleInfo

calculateTransforms

public void calculateTransforms(@Const
                                b3RigidBodyData bodies)

getCalculatedTransformA

@Const
 @ByRef
public b3Transform getCalculatedTransformA()

Gets the global transform of the offset for body A /**

See Also:

b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.

getCalculatedTransformB

@Const
 @ByRef
public b3Transform getCalculatedTransformB()

Gets the global transform of the offset for body B /**

See Also:

b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.

getFrameOffsetA

@ByRef
public b3Transform getFrameOffsetA()

getFrameOffsetB

@ByRef
public b3Transform getFrameOffsetB()

getInfo1

public void getInfo1(b3TypedConstraint.b3ConstraintInfo1 info,
                     @Const
                     b3RigidBodyData bodies)

Description copied from class: b3TypedConstraint

internal method used by the constraint solver, don't use them directly

Overrides:

getInfo1 in class b3TypedConstraint

getInfo1NonVirtual

public void getInfo1NonVirtual(b3TypedConstraint.b3ConstraintInfo1 info,
                               @Const
                               b3RigidBodyData bodies)

getInfo2

public void getInfo2(b3TypedConstraint.b3ConstraintInfo2 info,
                     @Const
                     b3RigidBodyData bodies)

Description copied from class: b3TypedConstraint

internal method used by the constraint solver, don't use them directly

Overrides:

getInfo2 in class b3TypedConstraint

getInfo2NonVirtual

public void getInfo2NonVirtual(b3TypedConstraint.b3ConstraintInfo2 info,
                               @Const @ByRef
                               b3Transform transA,
                               @Const @ByRef
                               b3Transform transB,
                               @Const @ByRef
                               b3Vector3 linVelA,
                               @Const @ByRef
                               b3Vector3 linVelB,
                               @Const @ByRef
                               b3Vector3 angVelA,
                               @Const @ByRef
                               b3Vector3 angVelB,
                               @Const
                               b3RigidBodyData bodies)

updateRHS

public void updateRHS(@Cast(value="b3Scalar")
                      float timeStep)

getAxis

@ByVal
public b3Vector3 getAxis(int axis_index)

Get the rotation axis in global coordinates

getAngle

@Cast(value="b3Scalar")
public float getAngle(int axis_index)

Get the relative Euler angle /** \pre b3Generic6DofConstraint::calculateTransforms() must be called previously.

getRelativePivotPosition

@Cast(value="b3Scalar")
public float getRelativePivotPosition(int axis_index)

Get the relative position of the constraint pivot /** \pre b3Generic6DofConstraint::calculateTransforms() must be called previously.

setFrames

public void setFrames(@Const @ByRef
                      b3Transform frameA,
                      @Const @ByRef
                      b3Transform frameB,
                      @Const
                      b3RigidBodyData bodies)

testAngularLimitMotor

@Cast(value="bool")
public boolean testAngularLimitMotor(int axis_index)

Test angular limit. /** Calculates angular correction and returns true if limit needs to be corrected. \pre b3Generic6DofConstraint::calculateTransforms() must be called previously.

setLinearLowerLimit

public void setLinearLowerLimit(@Const @ByRef
                                b3Vector3 linearLower)

getLinearLowerLimit

public void getLinearLowerLimit(@ByRef
                                b3Vector3 linearLower)

setLinearUpperLimit

public void setLinearUpperLimit(@Const @ByRef
                                b3Vector3 linearUpper)

getLinearUpperLimit

public void getLinearUpperLimit(@ByRef
                                b3Vector3 linearUpper)

setAngularLowerLimit

public void setAngularLowerLimit(@Const @ByRef
                                 b3Vector3 angularLower)

getAngularLowerLimit

public void getAngularLowerLimit(@ByRef
                                 b3Vector3 angularLower)

setAngularUpperLimit

public void setAngularUpperLimit(@Const @ByRef
                                 b3Vector3 angularUpper)

getAngularUpperLimit

public void getAngularUpperLimit(@ByRef
                                 b3Vector3 angularUpper)

getRotationalLimitMotor

public b3RotationalLimitMotor getRotationalLimitMotor(int index)

Retrieves the angular limit informacion

getTranslationalLimitMotor

public b3TranslationalLimitMotor getTranslationalLimitMotor()

Retrieves the limit informacion

setLimit

public void setLimit(int axis,
                     @Cast(value="b3Scalar")
                     float lo,
                     @Cast(value="b3Scalar")
                     float hi)

isLimited

@Cast(value="bool")
public boolean isLimited(int limitIndex)

Test limit /** - free means upper < lower, - locked means upper == lower - limited means upper > lower - limitIndex: first 3 are linear, next 3 are angular

calcAnchorPos

public void calcAnchorPos(@Const
                          b3RigidBodyData bodies)

get_limit_motor_info2

public int get_limit_motor_info2(b3RotationalLimitMotor limot,
                                 @Const @ByRef
                                 b3Transform transA,
                                 @Const @ByRef
                                 b3Transform transB,
                                 @Const @ByRef
                                 b3Vector3 linVelA,
                                 @Const @ByRef
                                 b3Vector3 linVelB,
                                 @Const @ByRef
                                 b3Vector3 angVelA,
                                 @Const @ByRef
                                 b3Vector3 angVelB,
                                 b3TypedConstraint.b3ConstraintInfo2 info,
                                 int row,
                                 @ByRef
                                 b3Vector3 ax1,
                                 int rotational,
                                 int rotAllowed)

get_limit_motor_info2

public int get_limit_motor_info2(b3RotationalLimitMotor limot,
                                 @Const @ByRef
                                 b3Transform transA,
                                 @Const @ByRef
                                 b3Transform transB,
                                 @Const @ByRef
                                 b3Vector3 linVelA,
                                 @Const @ByRef
                                 b3Vector3 linVelB,
                                 @Const @ByRef
                                 b3Vector3 angVelA,
                                 @Const @ByRef
                                 b3Vector3 angVelB,
                                 b3TypedConstraint.b3ConstraintInfo2 info,
                                 int row,
                                 @ByRef
                                 b3Vector3 ax1,
                                 int rotational)

getUseFrameOffset

@Cast(value="bool")
public boolean getUseFrameOffset()

setUseFrameOffset

public void setUseFrameOffset(@Cast(value="bool")
                              boolean frameOffsetOnOff)

setParam

public void setParam(int num,
                     @Cast(value="b3Scalar")
                     float value,
                     int axis)

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). If no axis is provided, it uses the default axis for this constraint.

Overrides:

setParam in class b3TypedConstraint

setParam

public void setParam(int num,
                     @Cast(value="b3Scalar")
                     float value)

Overrides:

setParam in class b3TypedConstraint

getParam

@Cast(value="b3Scalar")
public float getParam(int num,
                                              int axis)

return the local value of parameter

Overrides:

getParam in class b3TypedConstraint

getParam

@Cast(value="b3Scalar")
public float getParam(int num)

Overrides:

getParam in class b3TypedConstraint

setAxis

public void setAxis(@Const @ByRef
                    b3Vector3 axis1,
                    @Const @ByRef
                    b3Vector3 axis2,
                    @Const
                    b3RigidBodyData bodies)