org.bytedeco.bullet.BulletDynamics

Class btMultiBodyJointMotor

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletDynamics.btMultiBodyConstraint

org.bytedeco.bullet.BulletDynamics.btMultiBodyJointMotor

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btMultiBodyJointMotor
extends btMultiBodyConstraint

Nested Class Summary

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
btMultiBodyJointMotor(btMultiBody body, int link, double desiredVelocity, double maxMotorImpulse)
btMultiBodyJointMotor(btMultiBody body, int link, int linkDoF, double desiredVelocity, double maxMotorImpulse)
btMultiBodyJointMotor(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	createConstraintRows(btMultiBodySolverConstraintArray constraintRows, btMultiBodyJacobianData data, btContactSolverInfo infoGlobal)
void	debugDraw(btIDebugDraw drawer)
void	finalizeMultiDof()
double	getErp()
int	getIslandIdA()
int	getIslandIdB()
void	setErp(double erp)
void	setPositionTarget(double posTarget)
void	setPositionTarget(double posTarget, double kp)
void	setRhsClamp(double rhsClamp)
void	setVelocityTarget(double velTarget)
void	setVelocityTarget(double velTarget, double kd)

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

allocateJacobiansMultiDof, getAppliedImpulse, getConstraintType, getLinkA, getLinkB, getMaxAppliedImpulse, getMultiBodyA, getMultiBodyB, getNumRows, getPosition, internalSetAppliedImpulse, isUnilateral, jacobianA, jacobianB, setFrameInB, setGearAuxLink, setGearRatio, setMaxAppliedImpulse, setPivotInB, setPosition, setRelativePositionTarget, updateJacobianSizes

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

btMultiBodyJointMotor

public btMultiBodyJointMotor(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btMultiBodyJointMotor

public btMultiBodyJointMotor(btMultiBody body,
                             int link,
                             @Cast(value="btScalar")
                             double desiredVelocity,
                             @Cast(value="btScalar")
                             double maxMotorImpulse)

btMultiBodyJointMotor

public btMultiBodyJointMotor(btMultiBody body,
                             int link,
                             int linkDoF,
                             @Cast(value="btScalar")
                             double desiredVelocity,
                             @Cast(value="btScalar")
                             double maxMotorImpulse)

Method Detail

finalizeMultiDof

public void finalizeMultiDof()

Overrides:

finalizeMultiDof in class btMultiBodyConstraint

getIslandIdA

public int getIslandIdA()

Overrides:

getIslandIdA in class btMultiBodyConstraint

getIslandIdB

public int getIslandIdB()

Overrides:

getIslandIdB in class btMultiBodyConstraint

createConstraintRows

public void createConstraintRows(@ByRef
                                 btMultiBodySolverConstraintArray constraintRows,
                                 @ByRef
                                 btMultiBodyJacobianData data,
                                 @Const @ByRef
                                 btContactSolverInfo infoGlobal)

Overrides:

createConstraintRows in class btMultiBodyConstraint

setVelocityTarget

public void setVelocityTarget(@Cast(value="btScalar")
                              double velTarget,
                              @Cast(value="btScalar")
                              double kd)

setVelocityTarget

public void setVelocityTarget(@Cast(value="btScalar")
                              double velTarget)

setPositionTarget

public void setPositionTarget(@Cast(value="btScalar")
                              double posTarget,
                              @Cast(value="btScalar")
                              double kp)

setPositionTarget

public void setPositionTarget(@Cast(value="btScalar")
                              double posTarget)

setErp

public void setErp(@Cast(value="btScalar")
                   double erp)

Overrides:

setErp in class btMultiBodyConstraint

getErp

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

setRhsClamp

public void setRhsClamp(@Cast(value="btScalar")
                        double rhsClamp)

debugDraw

public void debugDraw(btIDebugDraw drawer)

Overrides:

debugDraw in class btMultiBodyConstraint