org.bytedeco.bullet.BulletDynamics

Class btConeTwistConstraint

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btTypedObject

org.bytedeco.bullet.BulletDynamics.btTypedConstraint

org.bytedeco.bullet.BulletDynamics.btConeTwistConstraint

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btConeTwistConstraint
extends btTypedConstraint

btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.bullet.BulletDynamics.btTypedConstraint

btTypedConstraint.btConstraintInfo1, btTypedConstraint.btConstraintInfo2

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
btConeTwistConstraint(btRigidBody rbA, btRigidBody rbB, btTransform rbAFrame, btTransform rbBFrame)
btConeTwistConstraint(btRigidBody rbA, btTransform rbAFrame)
btConeTwistConstraint(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	buildJacobian() internal method used by the constraint solver, don't use them directly
void	calcAngleInfo()
void	calcAngleInfo2(btTransform transA, btTransform transB, btMatrix3x3 invInertiaWorldA, btMatrix3x3 invInertiaWorldB)
int	calculateSerializeBufferSize()
void	enableMotor(boolean b)
btTransform	getAFrame()
boolean	getAngularOnly()
btTransform	getBFrame()
double	getBiasFactor()
double	getDamping()
double	getFixThresh()
int	getFlags()
btTransform	getFrameOffsetA()
btTransform	getFrameOffsetB()
void	getInfo1(btTypedConstraint.btConstraintInfo1 info) internal method used by the constraint solver, don't use them directly
void	getInfo1NonVirtual(btTypedConstraint.btConstraintInfo1 info)
void	getInfo2(btTypedConstraint.btConstraintInfo2 info) internal method used by the constraint solver, don't use them directly
void	getInfo2NonVirtual(btTypedConstraint.btConstraintInfo2 info, btTransform transA, btTransform transB, btMatrix3x3 invInertiaWorldA, btMatrix3x3 invInertiaWorldB)
double	getLimit(int limitIndex)
double	getLimitSoftness()
double	getMaxMotorImpulse()
btQuaternion	getMotorTarget()
double	getParam(int num)
double	getParam(int num, int axis) return the local value of parameter
btVector3	GetPointForAngle(double fAngleInRadians, double fLength)
double	getRelaxationFactor()
btRigidBody	getRigidBodyA()
btRigidBody	getRigidBodyB()
int	getSolveSwingLimit()
int	getSolveTwistLimit()
double	getSwingSpan1()
double	getSwingSpan2()
double	getTwistAngle()
double	getTwistLimitSign()
double	getTwistSpan()
boolean	isMaxMotorImpulseNormalized()
boolean	isMotorEnabled()
boolean	isPastSwingLimit()
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	setAngularOnly(boolean angularOnly)
void	setDamping(double damping)
void	setFixThresh(double fixThresh)
void	setFrames(btTransform frameA, btTransform frameB)
void	setLimit(double _swingSpan1, double _swingSpan2, double _twistSpan)
void	setLimit(double _swingSpan1, double _swingSpan2, double _twistSpan, double _softness, double _biasFactor, double _relaxationFactor)
void	setLimit(int limitIndex, double limitValue)
void	setMaxMotorImpulse(double maxMotorImpulse)
void	setMaxMotorImpulseNormalized(double maxMotorImpulse)
void	setMotorTarget(btQuaternion q)
void	setMotorTargetInConstraintSpace(btQuaternion q)
void	setParam(int num, double value)
void	setParam(int num, double value, int axis) override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
void	solveConstraintObsolete(btSolverBody bodyA, btSolverBody bodyB, double timeStep) internal method used by the constraint solver, don't use them directly
void	updateRHS(double timeStep)

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btTypedConstraint

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

Methods inherited from class org.bytedeco.bullet.LinearMath.btTypedObject

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

btConeTwistConstraint

public btConeTwistConstraint(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btConeTwistConstraint

public btConeTwistConstraint(@ByRef
                             btRigidBody rbA,
                             @ByRef
                             btRigidBody rbB,
                             @Const @ByRef
                             btTransform rbAFrame,
                             @Const @ByRef
                             btTransform rbBFrame)

btConeTwistConstraint

public btConeTwistConstraint(@ByRef
                             btRigidBody rbA,
                             @Const @ByRef
                             btTransform rbAFrame)

Method Detail

buildJacobian

public void buildJacobian()

Description copied from class: btTypedConstraint

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

Overrides:

buildJacobian in class btTypedConstraint

getInfo1

public void getInfo1(btTypedConstraint.btConstraintInfo1 info)

Description copied from class: btTypedConstraint

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

Overrides:

getInfo1 in class btTypedConstraint

getInfo1NonVirtual

public void getInfo1NonVirtual(btTypedConstraint.btConstraintInfo1 info)

getInfo2

public void getInfo2(btTypedConstraint.btConstraintInfo2 info)

Description copied from class: btTypedConstraint

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

Overrides:

getInfo2 in class btTypedConstraint

getInfo2NonVirtual

public void getInfo2NonVirtual(btTypedConstraint.btConstraintInfo2 info,
                               @Const @ByRef
                               btTransform transA,
                               @Const @ByRef
                               btTransform transB,
                               @Const @ByRef
                               btMatrix3x3 invInertiaWorldA,
                               @Const @ByRef
                               btMatrix3x3 invInertiaWorldB)

solveConstraintObsolete

public void solveConstraintObsolete(@ByRef
                                    btSolverBody bodyA,
                                    @ByRef
                                    btSolverBody bodyB,
                                    @Cast(value="btScalar")
                                    double timeStep)

Description copied from class: btTypedConstraint

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

Overrides:

solveConstraintObsolete in class btTypedConstraint

updateRHS

public void updateRHS(@Cast(value="btScalar")
                      double timeStep)

getRigidBodyA

@Const
 @ByRef
public btRigidBody getRigidBodyA()

Overrides:

getRigidBodyA in class btTypedConstraint

getRigidBodyB

@Const
 @ByRef
public btRigidBody getRigidBodyB()

Overrides:

getRigidBodyB in class btTypedConstraint

setAngularOnly

public void setAngularOnly(@Cast(value="bool")
                           boolean angularOnly)

getAngularOnly

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

setLimit

public void setLimit(int limitIndex,
                     @Cast(value="btScalar")
                     double limitValue)

getLimit

@Cast(value="btScalar")
public double getLimit(int limitIndex)

setLimit

public void setLimit(@Cast(value="btScalar")
                     double _swingSpan1,
                     @Cast(value="btScalar")
                     double _swingSpan2,
                     @Cast(value="btScalar")
                     double _twistSpan,
                     @Cast(value="btScalar")
                     double _softness,
                     @Cast(value="btScalar")
                     double _biasFactor,
                     @Cast(value="btScalar")
                     double _relaxationFactor)

setLimit

public void setLimit(@Cast(value="btScalar")
                     double _swingSpan1,
                     @Cast(value="btScalar")
                     double _swingSpan2,
                     @Cast(value="btScalar")
                     double _twistSpan)

getAFrame

@Const
 @ByRef
public btTransform getAFrame()

getBFrame

@Const
 @ByRef
public btTransform getBFrame()

getSolveTwistLimit

public int getSolveTwistLimit()

getSolveSwingLimit

public int getSolveSwingLimit()

getTwistLimitSign

@Cast(value="btScalar")
public double getTwistLimitSign()

calcAngleInfo

public void calcAngleInfo()

calcAngleInfo2

public void calcAngleInfo2(@Const @ByRef
                           btTransform transA,
                           @Const @ByRef
                           btTransform transB,
                           @Const @ByRef
                           btMatrix3x3 invInertiaWorldA,
                           @Const @ByRef
                           btMatrix3x3 invInertiaWorldB)

getSwingSpan1

@Cast(value="btScalar")
public double getSwingSpan1()

getSwingSpan2

@Cast(value="btScalar")
public double getSwingSpan2()

getTwistSpan

@Cast(value="btScalar")
public double getTwistSpan()

getLimitSoftness

@Cast(value="btScalar")
public double getLimitSoftness()

getBiasFactor

@Cast(value="btScalar")
public double getBiasFactor()

getRelaxationFactor

@Cast(value="btScalar")
public double getRelaxationFactor()

getTwistAngle

@Cast(value="btScalar")
public double getTwistAngle()

isPastSwingLimit

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

getDamping

@Cast(value="btScalar")
public double getDamping()

setDamping

public void setDamping(@Cast(value="btScalar")
                       double damping)

enableMotor

public void enableMotor(@Cast(value="bool")
                        boolean b)

isMotorEnabled

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

getMaxMotorImpulse

@Cast(value="btScalar")
public double getMaxMotorImpulse()

isMaxMotorImpulseNormalized

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

setMaxMotorImpulse

public void setMaxMotorImpulse(@Cast(value="btScalar")
                               double maxMotorImpulse)

setMaxMotorImpulseNormalized

public void setMaxMotorImpulseNormalized(@Cast(value="btScalar")
                                         double maxMotorImpulse)

getFixThresh

@Cast(value="btScalar")
public double getFixThresh()

setFixThresh

public void setFixThresh(@Cast(value="btScalar")
                         double fixThresh)

setMotorTarget

public void setMotorTarget(@Const @ByRef
                           btQuaternion q)

getMotorTarget

@Const
 @ByRef
public btQuaternion getMotorTarget()

setMotorTargetInConstraintSpace

public void setMotorTargetInConstraintSpace(@Const @ByRef
                                            btQuaternion q)

GetPointForAngle

@ByVal
public btVector3 GetPointForAngle(@Cast(value="btScalar")
                                         double fAngleInRadians,
                                         @Cast(value="btScalar")
                                         double fLength)

setParam

public void setParam(int num,
                     @Cast(value="btScalar")
                     double 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 btTypedConstraint

setParam

public void setParam(int num,
                     @Cast(value="btScalar")
                     double value)

Overrides:

setParam in class btTypedConstraint

setFrames

public void setFrames(@Const @ByRef
                      btTransform frameA,
                      @Const @ByRef
                      btTransform frameB)

getFrameOffsetA

@Const
 @ByRef
public btTransform getFrameOffsetA()

getFrameOffsetB

@Const
 @ByRef
public btTransform getFrameOffsetB()

getParam

@Cast(value="btScalar")
public double getParam(int num,
                                               int axis)

return the local value of parameter

Overrides:

getParam in class btTypedConstraint

getParam

@Cast(value="btScalar")
public double getParam(int num)

Overrides:

getParam in class btTypedConstraint

getFlags

public int getFlags()

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

Overrides:

calculateSerializeBufferSize in class btTypedConstraint

serialize

@Cast(value="const char*")
public BytePointer serialize(Pointer dataBuffer,
                                                        btSerializer serializer)

fills the dataBuffer and returns the struct name (and 0 on failure)

Overrides:

serialize in class btTypedConstraint