MultiBodyLink (Libbulletjme API)

java.lang.Object
- com.jme3.bullet.NativePhysicsObject
- - com.jme3.bullet.MultiBodyLink

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>
```
public class MultiBodyLink
extends NativePhysicsObject
```
A single link in a MultiBody, based on Bullet's btMultibodyLink.

Field Summary

Fields
Modifier and Type Field and Description

static java.util.logging.Logger logger
message logger for this class
- Fields inherited from class com.jme3.bullet.NativePhysicsObject
  loggerN

Fields
Modifier and Type	Field and Description
`static java.util.logging.Logger`	`logger` message logger for this class

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`MultiBodyCollider`	`addCollider(CollisionShape shape)` Add a collider for this link.
`void`	`addConstraintForce(Vector3f force)` Add an external force to this link.
`void`	`addConstraintTorque(Vector3f torque)` Add an external torque to this link.
`void`	`addForce(Vector3f force)` Add an external force to this link.
`void`	`addJointTorque(int dofIndex, float torque)` Add an external torque to this link's joint.
`void`	`addTorque(Vector3f torque)` Add an external torque to this link.
`Vector3f`	`appliedForce(Vector3f storeResult)` Determine the net applied force on this link.
`Vector3f`	`appliedTorque(Vector3f storeResult)` Determine the net applied torque on this link.
`Vector3f`	`axis(Vector3f storeResult)` Determine the direction of the joint's axis for a planar, prismatic, or revolute joint.
`Vector3f`	`constraintForce(Vector3f storeResult)` Determine the net constraint force on this link.
`Vector3f`	`constraintTorque(Vector3f storeResult)` Determine the net constraint torque on this link.
`int`	`countDofs()` Count the degrees of freedom in the joint.
`int`	`countPositionVariables()` Count the position variables in the joint.
`MultiBodyCollider`	`getCollider()` Access the collider for this link.
`MultiBody`	`getMultiBody()` Access the MultiBody that contains this link.
`MultiBodyLink`	`getParentLink()` Determine the parent of this link.
`int`	`index()` Determine the index of this link in its MultiBody.
`Vector3f`	`inertia(Vector3f storeResult)` Determine the rotational inertia of this link.
`boolean`	`isCollisionWithParent()` Test whether collisions with the immediate parent link are enabled.
`float`	`jointPosition(int dofIndex)` Determine the position of the indexed DOF.
`float`	`jointTorque(int dofIndex)` Determine the torque applied to the indexed DOF using `addJointTorque(int, float)`, which is zeroed after each simulation step.
`MultiBodyJointType`	`jointType()` Determine the type of joint between this link and its parent.
`float`	`jointVelocity(int dofIndex)` Determine the velocity of the indexed DOF.
`Vector3f`	`location(Vector3f storeResult)` Determine the location of this link's center of mass.
`float`	`mass()` Determine the mass of this link.
`Quaternion`	`orientation(Quaternion storeResult)` Determine the orientation of the link relative to its parent when Q=0.
`Vector3f`	`parent2Link(Vector3f storeResult)` Determine the offset of the link's center relative to its parent's center for a planar joint.
`Vector3f`	`parent2Pivot(Vector3f storeResult)` Determine the offset from the parent's center to the pivot for a non-planar joint.
`Vector3f`	`pivot2Link(Vector3f storeResult)` Determine the offset from the pivot to this link's center for a non-planar joint.
`void`	`setJointPosition(int dofIndex, float position)` Alter the position of the indexed DOF.
`void`	`setJointVelocity(int dofIndex, float velocity)` Alter the velocity of the indexed DOF.
`Transform`	`worldTransform(Transform storeResult)` Determine the transform of this link.

Methods inherited from class com.jme3.bullet.NativePhysicsObject
compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeId, setNativeIdNotTracked, toString, unassignNativeObject

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

- Field Detail
  - logger
```
public static final java.util.logging.Logger logger
```
    message logger for this class
- Method Detail
  - addCollider
```
public MultiBodyCollider addCollider(CollisionShape shape)
```
    Add a collider for this link.
    
    Parameters:
    
    shape - (not null, alias created)
    
    Returns:
    
    a new collider
  - addConstraintForce
```
public void addConstraintForce(Vector3f force)
```
    Add an external force to this link.
    
    Parameters:
    
    force - the force to add (in physics-space coordinates, not null, unaffected)
  - addConstraintTorque
```
public void addConstraintTorque(Vector3f torque)
```
    Add an external torque to this link.
    
    Parameters:
    
    torque - the torque to add (in physics-space coordinates, not null, unaffected)
  - addForce
```
public void addForce(Vector3f force)
```
    Add an external force to this link.
    
    Parameters:
    
    force - the force to add (in physics-space coordinates, not null, unaffected)
  - addJointTorque
```
public void addJointTorque(int dofIndex,
                           float torque)
```
    Add an external torque to this link's joint.
    
    Parameters:
    
    dofIndex - which degree of freedom (≥0, <numDofs)
    
    torque - the torque to add
  - addTorque
```
public void addTorque(Vector3f torque)
```
    Add an external torque to this link.
    
    Parameters:
    
    torque - the torque to add (in physics-space coordinates, not null, unaffected)
  - appliedForce
```
public Vector3f appliedForce(Vector3f storeResult)
```
    Determine the net applied force on this link.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the force vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - appliedTorque
```
public Vector3f appliedTorque(Vector3f storeResult)
```
    Determine the net applied torque on this link.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the torque vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - axis
```
public Vector3f axis(Vector3f storeResult)
```
    Determine the direction of the joint's axis for a planar, prismatic, or revolute joint.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the direction (a unit vector, either storeResult or a new vector)
  - constraintForce
```
public Vector3f constraintForce(Vector3f storeResult)
```
    Determine the net constraint force on this link.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the force vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - constraintTorque
```
public Vector3f constraintTorque(Vector3f storeResult)
```
    Determine the net constraint torque on this link.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the torque vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - countDofs
```
public int countDofs()
```
    Count the degrees of freedom in the joint.
    
    Returns:
    
    the count (≥0)
  - countPositionVariables
```
public int countPositionVariables()
```
    Count the position variables in the joint.
    
    Returns:
    
    the count (≥0)
  - getCollider
```
public MultiBodyCollider getCollider()
```
    Access the collider for this link.
    
    Returns:
    
    the pre-existing instance, or null if none
  - getMultiBody
```
public MultiBody getMultiBody()
```
    Access the MultiBody that contains this link.
    
    Returns:
    
    the pre-existing instance (not null)
  - getParentLink
```
public MultiBodyLink getParentLink()
```
    Determine the parent of this link.
    
    Returns:
    
    the pre-existing instance, or null if this link's parent is the base
  - index
```
public int index()
```
    Determine the index of this link in its MultiBody.
    
    Returns:
    
    the index (≥0)
  - inertia
```
public Vector3f inertia(Vector3f storeResult)
```
    Determine the rotational inertia of this link.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the principal (diagonal) components of the inertia tensor (in the link's local coordinates, either storeResult or a new vector, not null)
  - isCollisionWithParent
```
public boolean isCollisionWithParent()
```
    Test whether collisions with the immediate parent link are enabled.
    
    Returns:
    
    true if collisions are enabled, otherwise false
  - jointPosition
```
public float jointPosition(int dofIndex)
```
    Determine the position of the indexed DOF.
    
    Parameters:
    
    dofIndex - which degree of freedom (≥0, <numDofs)
    
    Returns:
    
    the position
  - jointTorque
```
public float jointTorque(int dofIndex)
```
    Determine the torque applied to the indexed DOF using addJointTorque(int, float), which is zeroed after each simulation step.
    
    Parameters:
    
    dofIndex - which degree of freedom (≥0, <numDofs)
    
    Returns:
    
    the torque
  - jointType
```
public MultiBodyJointType jointType()
```
    Determine the type of joint between this link and its parent.
    
    Returns:
    
    an enum value (not null)
  - jointVelocity
```
public float jointVelocity(int dofIndex)
```
    Determine the velocity of the indexed DOF.
    
    Parameters:
    
    dofIndex - which degree of freedom (≥0, <numDofs)
    
    Returns:
    
    the velocity
  - location
```
public Vector3f location(Vector3f storeResult)
```
    Determine the location of this link's center of mass.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the location vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - mass
```
public float mass()
```
    Determine the mass of this link.
    
    Returns:
    
    the mass (in physics-space units, >0)
  - orientation
```
public Quaternion orientation(Quaternion storeResult)
```
    Determine the orientation of the link relative to its parent when Q=0.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the orientation (either storeResult or a new Quaternion)
  - parent2Link
```
public Vector3f parent2Link(Vector3f storeResult)
```
    Determine the offset of the link's center relative to its parent's center for a planar joint.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the offset (in this link's coordinate system, either storeResult or a new vector)
  - parent2Pivot
```
public Vector3f parent2Pivot(Vector3f storeResult)
```
    Determine the offset from the parent's center to the pivot for a non-planar joint.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the offset (in the parent's coordinate system, either storeResult or a new vector)
  - pivot2Link
```
public Vector3f pivot2Link(Vector3f storeResult)
```
    Determine the offset from the pivot to this link's center for a non-planar joint.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the offset (in this link's coordinate system, either storeResult or a new vector)
  - setJointPosition
```
public void setJointPosition(int dofIndex,
                             float position)
```
    Alter the position of the indexed DOF.
    
    Parameters:
    
    dofIndex - which degree of freedom (≥0, <numDofs)
    
    position - the desired position
  - setJointVelocity
```
public void setJointVelocity(int dofIndex,
                             float velocity)
```
    Alter the velocity of the indexed DOF.
    
    Parameters:
    
    dofIndex - which degree of freedom (≥0, <numDofs)
    
    velocity - the desired velocity
  - worldTransform
```
public Transform worldTransform(Transform storeResult)
```
    Determine the transform of this link. Assumes the physics simulation has been stepped.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the Transform (either storeResult or a new instance, not null)

Class MultiBodyLink

Field Summary

Fields inherited from class com.jme3.bullet.NativePhysicsObject

Method Summary

Methods inherited from class com.jme3.bullet.NativePhysicsObject

Methods inherited from class java.lang.Object

Field Detail

logger

Method Detail

addCollider

addConstraintForce

addConstraintTorque

addForce

addJointTorque

addTorque

appliedForce

appliedTorque

axis

constraintForce

constraintTorque

countDofs

countPositionVariables

getCollider

getMultiBody

getParentLink

index

inertia

isCollisionWithParent

jointPosition

jointTorque

jointType

jointVelocity

location

mass

orientation

parent2Link

parent2Pivot

pivot2Link

setJointPosition

setJointVelocity

worldTransform