com.jme3.bullet.joints

Class Point2PointJoint

java.lang.Object

com.jme3.bullet.NativePhysicsObject

com.jme3.bullet.joints.PhysicsJoint

com.jme3.bullet.joints.Constraint

com.jme3.bullet.joints.Point2PointJoint

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

public class Point2PointJoint
extends Constraint

A 3 degree-of-freedom joint based on Bullet's btPoint2PointConstraint.

From the Bullet manual:
Point to point constraint limits the translation so that the local pivot points of 2 rigid bodies match in worldspace. A chain of rigid bodies can be connected using this constraint.

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
Point2PointJoint(PhysicsRigidBody rigidBodyA, PhysicsRigidBody rigidBodyB, Vector3f pivotInA, Vector3f pivotInB) Instantiate a double-ended Point2PointJoint.
Point2PointJoint(PhysicsRigidBody rigidBodyA, Vector3f pivotInA) Instantiate a single-ended Point2PointJoint where the constraint is already satisfied.
Point2PointJoint(PhysicsRigidBody rigidBodyA, Vector3f pivotInA, Vector3f pivotInWorld) Instantiate a single-ended Point2PointJoint where the constraint might not be satisfied yet.

Method Summary

Modifier and Type	Method and Description
float	getDamping() Read the joint's damping ratio.
float	getImpulseClamp() Read the joint's impulse clamp.
Vector3f	getPivotInA(Vector3f storeResult) Locate the pivot in A's scaled local coordinates.
Vector3f	getPivotInB(Vector3f storeResult) Locate the pivot in B's scaled local coordinates.
float	getTau() Read the joint's tau value.
void	setDamping(float value) Alter the joint's damping.
void	setImpulseClamp(float value) Alter the joint's impulse clamp.
void	setPivotInA(Vector3f location) Alter the pivot location in A's scaled local coordinates.
void	setPivotInB(Vector3f location) Alter the pivot location in B's scaled local coordinates.
void	setTau(float value) Alter the joint's tau value.

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

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

Point2PointJoint

public Point2PointJoint(PhysicsRigidBody rigidBodyA,
                        Vector3f pivotInA)

Instantiate a single-ended Point2PointJoint where the constraint is already satisfied.

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

Parameters:

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

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

Point2PointJoint

public Point2PointJoint(PhysicsRigidBody rigidBodyA,
                        Vector3f pivotInA,
                        Vector3f pivotInWorld)

Instantiate a single-ended Point2PointJoint where the constraint might not be satisfied yet.

To be effective, the joint must be added to the body's PhysicsSpace 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)

pivotInWorld - the pivot location in physics-space coordinates (not null, unaffected)

Point2PointJoint

public Point2PointJoint(PhysicsRigidBody rigidBodyA,
                        PhysicsRigidBody rigidBodyB,
                        Vector3f pivotInA,
                        Vector3f pivotInB)

Instantiate a double-ended Point2PointJoint.

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)

Method Detail

getDamping

public float getDamping()

Read the joint's damping ratio.

Returns:

the viscous damping ratio (0→no damping, 1→critically damped)

getImpulseClamp

public float getImpulseClamp()

Read the joint's impulse clamp.

Returns:

the clamp value

getPivotInA

public Vector3f getPivotInA(Vector3f storeResult)

Locate the pivot in A's scaled local coordinates.

Parameters:

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

Returns:

the pivot location (either storeResult or a new vector, not null)

getPivotInB

public Vector3f getPivotInB(Vector3f storeResult)

Locate the pivot in B's scaled local coordinates.

Parameters:

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

Returns:

the pivot location (either storeResult or a new vector, not null)

getTau

public float getTau()

Read the joint's tau value.

Returns:

the tau value

setDamping

public void setDamping(float value)

Alter the joint's damping.

Parameters:

value - the desired viscous damping ratio (0→no damping, 1→critically damped, default=1)

setImpulseClamp

public void setImpulseClamp(float value)

Alter the joint's impulse clamp.

Parameters:

value - the desired impulse clamp value (default=0)

setTau

public void setTau(float value)

Alter the joint's tau value.

Parameters:

value - the desired tau value (default=0.3)

setPivotInA

public void setPivotInA(Vector3f location)

Alter the pivot location in A's scaled local coordinates.

Overrides:

setPivotInA in class Constraint

Parameters:

location - the desired location (not null, unaffected)

setPivotInB

public void setPivotInB(Vector3f location)

Alter the pivot location in B's scaled local coordinates. Unlike Minie, Libbulletjme implements this method for both single-ended and double-ended joints.

Overrides:

setPivotInB in class Constraint

Parameters:

location - the desired location (not null, unaffected)