org.bytedeco.bullet.BulletDynamics

Class btGeneric6DofConstraint

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btTypedObject

org.bytedeco.bullet.BulletDynamics.btTypedConstraint

org.bytedeco.bullet.BulletDynamics.btGeneric6DofConstraint

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btGeneric6DofSpringConstraint, btUniversalConstraint

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btGeneric6DofConstraint
extends btTypedConstraint

btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space /** btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. currently this limit supports rotational motors

• For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. At this moment translational motors are not supported. May be in the future.
• For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. This is accessible through btGeneric6DofConstraint.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.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
btGeneric6DofConstraint(btRigidBody rbA, btRigidBody rbB, btTransform frameInA, btTransform frameInB, boolean useLinearReferenceFrameA)
btGeneric6DofConstraint(btRigidBody rbB, btTransform frameInB, boolean useLinearReferenceFrameB)
btGeneric6DofConstraint(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	buildJacobian() performs Jacobian calculation, and also calculates angle differences and axis
void	calcAnchorPos()
int	calculateSerializeBufferSize()
void	calculateTransforms()
void	calculateTransforms(btTransform transA, btTransform transB) 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(btRotationalLimitMotor limot, btTransform transA, btTransform transB, btVector3 linVelA, btVector3 linVelB, btVector3 angVelA, btVector3 angVelB, btTypedConstraint.btConstraintInfo2 info, int row, btVector3 ax1, int rotational)
int	get_limit_motor_info2(btRotationalLimitMotor limot, btTransform transA, btTransform transB, btVector3 linVelA, btVector3 linVelB, btVector3 angVelA, btVector3 angVelB, btTypedConstraint.btConstraintInfo2 info, int row, btVector3 ax1, int rotational, int rotAllowed)
double	getAngle(int axis_index) Get the relative Euler angle /** \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
void	getAngularLowerLimit(btVector3 angularLower)
void	getAngularUpperLimit(btVector3 angularUpper)
btVector3	getAxis(int axis_index) Get the rotation axis in global coordinates /** \pre btGeneric6DofConstraint.buildJacobian must be called previously.
btTransform	getCalculatedTransformA() Gets the global transform of the offset for body A /**
btTransform	getCalculatedTransformB() Gets the global transform of the offset for body B /**
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, btVector3 linVelA, btVector3 linVelB, btVector3 angVelA, btVector3 angVelB)
void	getLinearLowerLimit(btVector3 linearLower)
void	getLinearUpperLimit(btVector3 linearUpper)
double	getParam(int num)
double	getParam(int num, int axis) return the local value of parameter
double	getRelativePivotPosition(int axis_index) Get the relative position of the constraint pivot /** \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
btRotationalLimitMotor	getRotationalLimitMotor(int index) Retrieves the angular limit informacion
btTranslationalLimitMotor	getTranslationalLimitMotor() Retrieves the limit informacion
boolean	getUseFrameOffset()
boolean	getUseLinearReferenceFrameA()
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
boolean	m_useSolveConstraintObsolete() for backwards compatibility during the transition to 'getInfo/getInfo2'
btGeneric6DofConstraint	m_useSolveConstraintObsolete(boolean setter)
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	setAngularLowerLimit(btVector3 angularLower)
void	setAngularUpperLimit(btVector3 angularUpper)
void	setAxis(btVector3 axis1, btVector3 axis2)
void	setFrames(btTransform frameA, btTransform frameB)
void	setLimit(int axis, double lo, double hi)
void	setLinearLowerLimit(btVector3 linearLower)
void	setLinearUpperLimit(btVector3 linearUpper)
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	setUseFrameOffset(boolean frameOffsetOnOff)
void	setUseLinearReferenceFrameA(boolean linearReferenceFrameA)
boolean	testAngularLimitMotor(int axis_index) Test angular limit.
void	updateRHS(double timeStep)

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

enableFeedback, getAppliedImpulse, getBreakingImpulseThreshold, getConstraintType, getDbgDrawSize, getFixedBody, 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.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

btGeneric6DofConstraint

public btGeneric6DofConstraint(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btGeneric6DofConstraint

public btGeneric6DofConstraint(@ByRef
                               btRigidBody rbA,
                               @ByRef
                               btRigidBody rbB,
                               @Const @ByRef
                               btTransform frameInA,
                               @Const @ByRef
                               btTransform frameInB,
                               @Cast(value="bool")
                               boolean useLinearReferenceFrameA)

btGeneric6DofConstraint

public btGeneric6DofConstraint(@ByRef
                               btRigidBody rbB,
                               @Const @ByRef
                               btTransform frameInB,
                               @Cast(value="bool")
                               boolean useLinearReferenceFrameB)

Method Detail

m_useSolveConstraintObsolete

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

for backwards compatibility during the transition to 'getInfo/getInfo2'

m_useSolveConstraintObsolete

public btGeneric6DofConstraint m_useSolveConstraintObsolete(boolean setter)

calculateTransforms

public void calculateTransforms(@Const @ByRef
                                btTransform transA,
                                @Const @ByRef
                                btTransform transB)

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:

, btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo

calculateTransforms

public void calculateTransforms()

getCalculatedTransformA

@Const
 @ByRef
public btTransform getCalculatedTransformA()

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

See Also:

btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

getCalculatedTransformB

@Const
 @ByRef
public btTransform getCalculatedTransformB()

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

See Also:

btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

getFrameOffsetA

@ByRef
public btTransform getFrameOffsetA()

getFrameOffsetB

@ByRef
public btTransform getFrameOffsetB()

buildJacobian

public void buildJacobian()

performs Jacobian calculation, and also calculates angle differences and axis

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
                               btVector3 linVelA,
                               @Const @ByRef
                               btVector3 linVelB,
                               @Const @ByRef
                               btVector3 angVelA,
                               @Const @ByRef
                               btVector3 angVelB)

updateRHS

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

getAxis

@ByVal
public btVector3 getAxis(int axis_index)

Get the rotation axis in global coordinates /** \pre btGeneric6DofConstraint.buildJacobian must be called previously.

getAngle

@Cast(value="btScalar")
public double getAngle(int axis_index)

Get the relative Euler angle /** \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.

getRelativePivotPosition

@Cast(value="btScalar")
public double getRelativePivotPosition(int axis_index)

Get the relative position of the constraint pivot /** \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.

setFrames

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

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 btGeneric6DofConstraint::calculateTransforms() must be called previously.

setLinearLowerLimit

public void setLinearLowerLimit(@Const @ByRef
                                btVector3 linearLower)

getLinearLowerLimit

public void getLinearLowerLimit(@ByRef
                                btVector3 linearLower)

setLinearUpperLimit

public void setLinearUpperLimit(@Const @ByRef
                                btVector3 linearUpper)

getLinearUpperLimit

public void getLinearUpperLimit(@ByRef
                                btVector3 linearUpper)

setAngularLowerLimit

public void setAngularLowerLimit(@Const @ByRef
                                 btVector3 angularLower)

getAngularLowerLimit

public void getAngularLowerLimit(@ByRef
                                 btVector3 angularLower)

setAngularUpperLimit

public void setAngularUpperLimit(@Const @ByRef
                                 btVector3 angularUpper)

getAngularUpperLimit

public void getAngularUpperLimit(@ByRef
                                 btVector3 angularUpper)

getRotationalLimitMotor

public btRotationalLimitMotor getRotationalLimitMotor(int index)

Retrieves the angular limit informacion

getTranslationalLimitMotor

public btTranslationalLimitMotor getTranslationalLimitMotor()

Retrieves the limit informacion

setLimit

public void setLimit(int axis,
                     @Cast(value="btScalar")
                     double lo,
                     @Cast(value="btScalar")
                     double 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()

get_limit_motor_info2

public int get_limit_motor_info2(btRotationalLimitMotor limot,
                                 @Const @ByRef
                                 btTransform transA,
                                 @Const @ByRef
                                 btTransform transB,
                                 @Const @ByRef
                                 btVector3 linVelA,
                                 @Const @ByRef
                                 btVector3 linVelB,
                                 @Const @ByRef
                                 btVector3 angVelA,
                                 @Const @ByRef
                                 btVector3 angVelB,
                                 btTypedConstraint.btConstraintInfo2 info,
                                 int row,
                                 @ByRef
                                 btVector3 ax1,
                                 int rotational,
                                 int rotAllowed)

get_limit_motor_info2

public int get_limit_motor_info2(btRotationalLimitMotor limot,
                                 @Const @ByRef
                                 btTransform transA,
                                 @Const @ByRef
                                 btTransform transB,
                                 @Const @ByRef
                                 btVector3 linVelA,
                                 @Const @ByRef
                                 btVector3 linVelB,
                                 @Const @ByRef
                                 btVector3 angVelA,
                                 @Const @ByRef
                                 btVector3 angVelB,
                                 btTypedConstraint.btConstraintInfo2 info,
                                 int row,
                                 @ByRef
                                 btVector3 ax1,
                                 int rotational)

getUseFrameOffset

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

setUseFrameOffset

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

getUseLinearReferenceFrameA

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

setUseLinearReferenceFrameA

public void setUseLinearReferenceFrameA(@Cast(value="bool")
                                        boolean linearReferenceFrameA)

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

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

setAxis

public void setAxis(@Const @ByRef
                    btVector3 axis1,
                    @Const @ByRef
                    btVector3 axis2)

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