org.bytedeco.bullet.BulletDynamics

Class btGeneric6DofSpringConstraint

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btTypedObject

org.bytedeco.bullet.BulletDynamics.btTypedConstraint

org.bytedeco.bullet.BulletDynamics.btGeneric6DofConstraint

org.bytedeco.bullet.BulletDynamics.btGeneric6DofSpringConstraint

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btGeneric6DofSpringConstraint
extends btGeneric6DofConstraint

Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF

DOF index used in enableSpring() and setStiffness() means: 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] )

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
btGeneric6DofSpringConstraint(btRigidBody rbA, btRigidBody rbB, btTransform frameInA, btTransform frameInB, boolean useLinearReferenceFrameA)
btGeneric6DofSpringConstraint(btRigidBody rbB, btTransform frameInB, boolean useLinearReferenceFrameB)
btGeneric6DofSpringConstraint(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
int	calculateSerializeBufferSize()
void	enableSpring(int index, boolean onOff)
double	getDamping(int index)
double	getEquilibriumPoint(int index)
void	getInfo2(btTypedConstraint.btConstraintInfo2 info) internal method used by the constraint solver, don't use them directly
double	getStiffness(int index)
boolean	isSpringEnabled(int index)
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	setAxis(btVector3 axis1, btVector3 axis2)
void	setDamping(int index, double damping)
void	setEquilibriumPoint()
void	setEquilibriumPoint(int index)
void	setEquilibriumPoint(int index, double val)
void	setStiffness(int index, double stiffness)

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btGeneric6DofConstraint

buildJacobian, calcAnchorPos, calculateTransforms, calculateTransforms, get_limit_motor_info2, get_limit_motor_info2, getAngle, getAngularLowerLimit, getAngularUpperLimit, getAxis, getCalculatedTransformA, getCalculatedTransformB, getFlags, getFrameOffsetA, getFrameOffsetB, getInfo1, getInfo1NonVirtual, getInfo2NonVirtual, getLinearLowerLimit, getLinearUpperLimit, getParam, getParam, getRelativePivotPosition, getRotationalLimitMotor, getTranslationalLimitMotor, getUseFrameOffset, getUseLinearReferenceFrameA, isLimited, m_useSolveConstraintObsolete, m_useSolveConstraintObsolete, setAngularLowerLimit, setAngularUpperLimit, setFrames, setLimit, setLinearLowerLimit, setLinearUpperLimit, setParam, setParam, setUseFrameOffset, setUseLinearReferenceFrameA, testAngularLimitMotor, updateRHS

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

btGeneric6DofSpringConstraint

public btGeneric6DofSpringConstraint(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btGeneric6DofSpringConstraint

public btGeneric6DofSpringConstraint(@ByRef
                                     btRigidBody rbA,
                                     @ByRef
                                     btRigidBody rbB,
                                     @Const @ByRef
                                     btTransform frameInA,
                                     @Const @ByRef
                                     btTransform frameInB,
                                     @Cast(value="bool")
                                     boolean useLinearReferenceFrameA)

btGeneric6DofSpringConstraint

public btGeneric6DofSpringConstraint(@ByRef
                                     btRigidBody rbB,
                                     @Const @ByRef
                                     btTransform frameInB,
                                     @Cast(value="bool")
                                     boolean useLinearReferenceFrameB)

Method Detail

enableSpring

public void enableSpring(int index,
                         @Cast(value="bool")
                         boolean onOff)

setStiffness

public void setStiffness(int index,
                         @Cast(value="btScalar")
                         double stiffness)

setDamping

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

setEquilibriumPoint

public void setEquilibriumPoint()

setEquilibriumPoint

public void setEquilibriumPoint(int index)

setEquilibriumPoint

public void setEquilibriumPoint(int index,
                                @Cast(value="btScalar")
                                double val)

isSpringEnabled

@Cast(value="bool")
public boolean isSpringEnabled(int index)

getStiffness

@Cast(value="btScalar")
public double getStiffness(int index)

getDamping

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

getEquilibriumPoint

@Cast(value="btScalar")
public double getEquilibriumPoint(int index)

setAxis

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

Overrides:

setAxis in class btGeneric6DofConstraint

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 btGeneric6DofConstraint

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

Overrides:

calculateSerializeBufferSize in class btGeneric6DofConstraint

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 btGeneric6DofConstraint