com.jme3.bullet.joints

Class ConeJoint

java.lang.Object

com.jme3.bullet.NativePhysicsObject

com.jme3.bullet.joints.PhysicsJoint

com.jme3.bullet.joints.Constraint

com.jme3.bullet.joints.ConeJoint

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

public class ConeJoint
extends Constraint

A 3 degree-of-freedom joint based on Bullet's btConeTwistConstraint.

From the Bullet manual:
To create ragdolls, the cone twist constraint is very useful for limbs like the upper arm. It is a special point to point constraint that adds cone and twist axis limits. The x-axis serves as twist axis.

Field Summary

Fields

Modifier and Type	Field and Description
static java.util.logging.Logger	logger2 message logger for this class

Fields inherited from class com.jme3.bullet.joints.Constraint

logger15, pivotA, pivotB

Fields inherited from class com.jme3.bullet.joints.PhysicsJoint

logger

Fields inherited from class com.jme3.bullet.NativePhysicsObject

loggerN

Constructor Summary

Constructors

Constructor and Description
ConeJoint(PhysicsRigidBody rigidBodyA, PhysicsRigidBody rigidBodyB, Vector3f pivotInA, Vector3f pivotInB) Instantiate a double-ended ConeJoint.
ConeJoint(PhysicsRigidBody rigidBodyA, PhysicsRigidBody rigidBodyB, Vector3f pivotInA, Vector3f pivotInB, Matrix3f rotInA, Matrix3f rotInB) Instantiate a double-ended ConeJoint.
ConeJoint(PhysicsRigidBody rigidBodyA, Vector3f pivotInA, Matrix3f rotInA) Instantiate a single-ended ConeJoint with its pivot at the physics-space origin.

Method Summary

Modifier and Type	Method and Description
Transform	getFrameTransform(JointEnd end, Transform storeResult) Copy the joint's frame transform relative to the specified end.
float	getSwingSpan1() Read the span of the first swing axis.
float	getSwingSpan2() Read the span of the 2nd swing axis.
float	getTwistSpan() Read the span of the twist (local X) axis.
boolean	isAngularOnly() Test whether this joint is angular-only.
void	setAngularOnly(boolean value) Alter whether this joint is angular-only.
void	setLimit(float swingSpan1, float swingSpan2, float twistSpan) Alter the angular limits for this joint.

Methods inherited from class com.jme3.bullet.joints.Constraint

getAppliedImpulse, getBodyA, getBodyB, getBreakingImpulseThreshold, getConstraintType, getOverrideIterations, getPivot, getPivotA, getPivotB, isCollisionBetweenLinkedBodies, isEnabled, isFeedback, overrideIterations, setBreakingImpulseThreshold, setCollisionBetweenLinkedBodies, setEnabled, setFeedback, setPivotInA, setPivotInB

Methods inherited from class com.jme3.bullet.joints.PhysicsJoint

countEnds, destroy, findEnd, findOtherBody, getBody, getPhysicsSpace, setBodyA, setBodyB, setNativeId, setPhysicsSpace, toString

Methods inherited from class com.jme3.bullet.NativePhysicsObject

compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeIdNotTracked, unassignNativeObject

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

logger2

public static final java.util.logging.Logger logger2

message logger for this class

Constructor Detail

ConeJoint

public ConeJoint(PhysicsRigidBody rigidBodyA,
                 Vector3f pivotInA,
                 Matrix3f rotInA)

Instantiate a single-ended ConeJoint with its pivot at the physics-space origin.

To be effective, the joint must be added to the PhysicsSpace of the body and the body must be dynamic.

Parameters:

rigidBodyA - the body to constrain (not null, alias created)

pivotInA - the pivot location in A's scaled local coordinates (not null, unaffected)

rotInA - the joint orientation in A's local coordinates (rotation matrix, unaffected)

ConeJoint

public ConeJoint(PhysicsRigidBody rigidBodyA,
                 PhysicsRigidBody rigidBodyB,
                 Vector3f pivotInA,
                 Vector3f pivotInB)

Instantiate a double-ended ConeJoint.

To be effective, the joint must be added to the PhysicsSpace of both bodies. Also, the bodies must be distinct and at least one of them must be dynamic.

Parameters:

rigidBodyA - the body for the A end (not null, alias created)

rigidBodyB - the body for the B end (not null, alias created)

pivotInA - the pivot location in A's scaled local coordinates (not null, unaffected)

pivotInB - the pivot location in B's scaled local coordinates (not null, unaffected)

ConeJoint

public ConeJoint(PhysicsRigidBody rigidBodyA,
                 PhysicsRigidBody rigidBodyB,
                 Vector3f pivotInA,
                 Vector3f pivotInB,
                 Matrix3f rotInA,
                 Matrix3f rotInB)

Instantiate a double-ended ConeJoint.

To be effective, the joint must be added to the PhysicsSpace of both bodies. Also, the bodies must be distinct and at least one of them must be dynamic.

Parameters:

rigidBodyA - the body for the A end (not null, alias created)

rigidBodyB - the body for the B end (not null, alias created)

pivotInA - the pivot location in A's scaled local coordinates (not null, unaffected)

pivotInB - the pivot location in B's scaled local coordinates (not null, unaffected)

rotInA - the joint orientation in A's local coordinates (rotation matrix, unaffected)

rotInB - the joint orientation in B's local coordinates (rotation matrix, unaffected)

Method Detail

getFrameTransform

public Transform getFrameTransform(JointEnd end,
                                   Transform storeResult)

Copy the joint's frame transform relative to the specified end.

Parameters:

end - which end (not null)

storeResult - storage for the result (modified if not null)

Returns:

the transform of the constraint space relative to the end

getSwingSpan1

public float getSwingSpan1()

Read the span of the first swing axis.

Returns:

the span (in radians)

getSwingSpan2

public float getSwingSpan2()

Read the span of the 2nd swing axis.

Returns:

the span (in radians)

getTwistSpan

public float getTwistSpan()

Read the span of the twist (local X) axis.

Returns:

the span (in radians)

isAngularOnly

public boolean isAngularOnly()

Test whether this joint is angular-only.

Returns:

true if angular only, otherwise false

setAngularOnly

public void setAngularOnly(boolean value)

Alter whether this joint is angular-only.

Parameters:

value - the desired setting (default=false)

setLimit

public void setLimit(float swingSpan1,
                     float swingSpan2,
                     float twistSpan)

Alter the angular limits for this joint.

Parameters:

swingSpan1 - the desired span of the first swing axis (in radians)

swingSpan2 - the desired span of the 2nd swing axis (in radians)

twistSpan - the desired span of the twist (local X) axis (in radians)