com.jme3.bullet.joints

Class SixDofJoint

java.lang.Object

com.jme3.bullet.NativePhysicsObject

com.jme3.bullet.joints.PhysicsJoint

com.jme3.bullet.joints.Constraint

com.jme3.bullet.joints.SixDofJoint

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

Direct Known Subclasses:

SixDofSpringJoint

public class SixDofJoint
extends Constraint

A 6 degree-of-freedom joint based on Bullet's btGeneric6DofConstraint. Axis rotations are applied in XYZ order.

From the Bullet manual:

For each axis:

• Lowerlimit = Upperlimit → axis is locked
• Lowerlimit > Upperlimit → axis is free
• Lowerlimit < Upperlimit → axis is limited in that range

It is recommended to use the btGeneric6DofSpring2Constraint, it has some improvements over the original btGeneric6Dof(Spring)Constraint.

See Also:

New6Dof

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
SixDofJoint(PhysicsRigidBody rigidBodyA, PhysicsRigidBody rigidBodyB, Vector3f pivotInA, Vector3f pivotInB, boolean useLinearReferenceFrameA) Instantiate a double-ended SixDofJoint.
SixDofJoint(PhysicsRigidBody rigidBodyA, PhysicsRigidBody rigidBodyB, Vector3f pivotInA, Vector3f pivotInB, Matrix3f rotInA, Matrix3f rotInB, boolean useLinearReferenceFrameA) Instantiate a double-ended SixDofJoint.
SixDofJoint(PhysicsRigidBody rigidBodyB, Vector3f pivotInB, Vector3f pivotInWorld, Matrix3f rotInB, Matrix3f rotInWorld, JointEnd linearReferenceFrame) Instantiate a single-ended SixDofJoint.

Method Summary

Modifier and Type	Method and Description
protected long	createJoint(long bodyIdA, long bodyIdB, Vector3f pivotInA, Matrix3f rotInA, Vector3f pivotInB, Matrix3f rotInB, boolean useLinearReferenceFrameA) Create a double-ended btGeneric6DofConstraint.
protected long	createJoint1(long bodyIdB, Vector3f pivotInB, Matrix3f rotInB, boolean useLinearReferenceFrameB) Create a single-ended btGeneric6DofConstraint.
Vector3f	getAngles(Vector3f storeResult) Copy the joint's rotation angles.
Vector3f	getAngularLowerLimit(Vector3f storeResult) Copy the joint's lower limits for rotation on all 3 axes.
Vector3f	getAngularUpperLimit(Vector3f storeResult) Copy the joint's upper limits for rotation on all 3 axes.
Transform	getFrameTransform(JointEnd end, Transform storeResult) Copy the joint's frame transform relative to the specified end.
Vector3f	getLinearLowerLimit(Vector3f storeResult) Copy the joint's lower limits for translation on all 3 axes.
Vector3f	getLinearUpperLimit(Vector3f storeResult) Copy the joint's upper limits for translation on all 3 axes.
Vector3f	getPivotOffset(Vector3f storeResult) Copy the joint's pivot offset.
RotationalLimitMotor	getRotationalLimitMotor(int axisIndex) Access the indexed RotationalLimitMotor of this joint, the motor which influences rotation around the indexed axis.
TranslationalLimitMotor	getTranslationalLimitMotor() Access the TranslationalLimitMotor of this joint, the motor which influences translation on all 3 axes.
void	setAngularLowerLimit(Vector3f limits) Alter the joint's lower limits for rotation of all 3 axes.
void	setAngularUpperLimit(Vector3f limits) Alter the joint's upper limits for rotation of all 3 axes.
void	setLinearLowerLimit(Vector3f vector) Alter the joint's lower limits for translation of all 3 axes.
void	setLinearUpperLimit(Vector3f vector) Alter the joint's upper limits for translation of all 3 axes.

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

SixDofJoint

public SixDofJoint(PhysicsRigidBody rigidBodyB,
                   Vector3f pivotInB,
                   Vector3f pivotInWorld,
                   Matrix3f rotInB,
                   Matrix3f rotInWorld,
                   JointEnd linearReferenceFrame)

Instantiate a single-ended SixDofJoint.

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

Parameters:

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

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

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

rotInB - the orientation of the joint in B's local coordinates (rotation matrix, not null, unaffected)

rotInWorld - the orientation of the joint in physics-space coordinates (rotation matrix, not null, unaffected)

linearReferenceFrame - which end to use as the linear reference frame (not null)

SixDofJoint

public SixDofJoint(PhysicsRigidBody rigidBodyA,
                   PhysicsRigidBody rigidBodyB,
                   Vector3f pivotInA,
                   Vector3f pivotInB,
                   Matrix3f rotInA,
                   Matrix3f rotInB,
                   boolean useLinearReferenceFrameA)

Instantiate a double-ended SixDofJoint.

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)

useLinearReferenceFrameA - true→use body A, false→use body B

SixDofJoint

public SixDofJoint(PhysicsRigidBody rigidBodyA,
                   PhysicsRigidBody rigidBodyB,
                   Vector3f pivotInA,
                   Vector3f pivotInB,
                   boolean useLinearReferenceFrameA)

Instantiate a double-ended SixDofJoint.

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

Parameters:

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

rigidBodyB - the 2nd body to constrain (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)

useLinearReferenceFrameA - true→use body A, false→use body B

Method Detail

getAngles

public Vector3f getAngles(Vector3f storeResult)

Copy the joint's rotation angles.

Parameters:

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

Returns:

the rotation angle for each local axis (in radians, either storeResult or a new vector, not null)

getAngularLowerLimit

public Vector3f getAngularLowerLimit(Vector3f storeResult)

Copy the joint's lower limits for rotation on all 3 axes.

Parameters:

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

Returns:

the lower limit for each local axis (in radians, either storeResult or a new vector, not null)

getAngularUpperLimit

public Vector3f getAngularUpperLimit(Vector3f storeResult)

Copy the joint's upper limits for rotation on all 3 axes.

Parameters:

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

Returns:

the upper limit for each local axis (in radians, either storeResult or a new vector, not null)

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

getLinearLowerLimit

public Vector3f getLinearLowerLimit(Vector3f storeResult)

Copy the joint's lower limits for translation on all 3 axes.

Parameters:

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

Returns:

the lower limit for each local axis (in radians, either storeResult or a new vector, not null)

getLinearUpperLimit

public Vector3f getLinearUpperLimit(Vector3f storeResult)

Copy the joint's upper limits for translation on all 3 axes.

Parameters:

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

Returns:

the upper limit for each local axis (in radians, either storeResult or a new vector, not null)

getPivotOffset

public Vector3f getPivotOffset(Vector3f storeResult)

Copy the joint's pivot offset.

Parameters:

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

Returns:

the relative pivot position on each local axis (in physics-space units, either storeResult or a new vector, not null)

getRotationalLimitMotor

public RotationalLimitMotor getRotationalLimitMotor(int axisIndex)

Access the indexed RotationalLimitMotor of this joint, the motor which influences rotation around the indexed axis.

Parameters:

axisIndex - the axis index of the desired motor: 0→X, 1→Y, 2→Z

Returns:

the pre-existing instance

getTranslationalLimitMotor

public TranslationalLimitMotor getTranslationalLimitMotor()

Access the TranslationalLimitMotor of this joint, the motor which influences translation on all 3 axes.

Returns:

the pre-existing instance

setAngularLowerLimit

public void setAngularLowerLimit(Vector3f limits)

Alter the joint's lower limits for rotation of all 3 axes.

Parameters:

limits - the desired lower limits (in radians, not null, unaffected)

setAngularUpperLimit

public void setAngularUpperLimit(Vector3f limits)

Alter the joint's upper limits for rotation of all 3 axes.

Parameters:

limits - the desired upper limits (in radians, not null, unaffected)

setLinearLowerLimit

public void setLinearLowerLimit(Vector3f vector)

Alter the joint's lower limits for translation of all 3 axes.

Parameters:

vector - the desired lower limits (not null, unaffected)

setLinearUpperLimit

public void setLinearUpperLimit(Vector3f vector)

Alter the joint's upper limits for translation of all 3 axes.

Parameters:

vector - the desired upper limits (not null, unaffected)

createJoint

protected long createJoint(long bodyIdA,
                           long bodyIdB,
                           Vector3f pivotInA,
                           Matrix3f rotInA,
                           Vector3f pivotInB,
                           Matrix3f rotInB,
                           boolean useLinearReferenceFrameA)

Create a double-ended btGeneric6DofConstraint.

Parameters:

bodyIdA - the ID of the body for the A end (not zero)

bodyIdB - the ID of the body for the B end (not zero)

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

rotInA - the orientation of the joint in A's local coordinates (not null, unaffected)

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

rotInB - the orientation of the joint in B's local coordinates (not null, unaffected)

useLinearReferenceFrameA - true→use body A, false→use body B

Returns:

the ID of the new joint

createJoint1

protected long createJoint1(long bodyIdB,
                            Vector3f pivotInB,
                            Matrix3f rotInB,
                            boolean useLinearReferenceFrameB)

Create a single-ended btGeneric6DofConstraint.

Parameters:

bodyIdB - the ID of the body for the B end (not zero)

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

rotInB - the orientation of the joint in B's local coordinates (not null, unaffected)

useLinearReferenceFrameB - true→use body A, false→use body B

Returns:

the ID of the new joint