com.jme3.bullet.joints.motors

Class RotationalLimitMotor

java.lang.Object

com.jme3.bullet.NativePhysicsObject

com.jme3.bullet.joints.motors.RotationalLimitMotor

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

public class RotationalLimitMotor
extends NativePhysicsObject

A motor based on Bullet's btRotationalLimitMotor, used to control the rotation of a SixDofJoint.

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

Constructor Summary

Constructors

Constructor and Description
RotationalLimitMotor(long nativeId) Instantiate a motor.

Method Summary

Modifier and Type	Method and Description
float	getAccumulatedImpulse() Return the accumulated impulse (native field: m_accumulatedImpulse).
float	getAngle() Return this motor's current rotation angle (native field: m_currentPosition).
float	getDamping() Return this motor's damping (native field: m_damping).
float	getERP() Return this motor's error-reduction parameter at the limits (native field: m_stopERP).
float	getLimitSoftness() Return this motor's limit softness (native field: m_limitSoftness).
float	getLowerLimit() Return this motor's constraint lower limit (native field: m_loLimit).
float	getMaxLimitForce() Return the limit maximum force (native field: m_maxLimitForce).
float	getMaxMotorForce() Return this motor's maximum force for normal conditions (native field: m_maxMotorForce).
float	getNormalCFM() Return this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).
float	getRestitution() Return this motor's restitution at the limits (native field: m_bounce).
float	getStopCFM() Return this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).
float	getTargetVelocity() Return this motor's target velocity (native field: m_targetVelocity).
float	getUpperLimit() Return this motor's constraint upper limit (native field: m_hiLimit).
boolean	isEnableMotor() Test whether this motor is enabled (native field: m_enableMotor).
void	setAccumulatedImpulse(float accumulatedImpulse) Alter the accumulated impulse (native field: m_accumulatedImpulse).
void	setDamping(float damping) Alter this motor's damping (native field: m_damping).
void	setEnableMotor(boolean enableMotor) Enable or disable this motor (native field: m_enableMotor).
void	setERP(float erp) Alter this motor's error-reduction parameter at the limits (native field: m_stopERP).
void	setLimitSoftness(float limitSoftness) Alter this motor's limit softness (native field: m_limitSoftness).
void	setLowerLimit(float lowerLimit) Alter this motor's constraint lower limit (native field: m_loLimit).
void	setMaxLimitForce(float maxLimitForce) Alter the limit maximum force (native field: m_maxLimitForce).
void	setMaxMotorForce(float maxMotorForce) Alter this motor's maximum force (native field: m_maxMotorForce).
void	setNormalCFM(float cfm) Alter this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).
void	setRestitution(float restitution) Alter this motor's restitution at the limits (native field: m_bounce).
void	setStopCFM(float cfm) Alter this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).
void	setTargetVelocity(float targetVelocity) Alter this motor's target velocity (native field: m_targetVelocity).
void	setUpperLimit(float upperLimit) Alter this motor's constraint upper limit (native field: m_hiLimit).

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

Constructor Detail

RotationalLimitMotor

public RotationalLimitMotor(long nativeId)

Instantiate a motor. Used internally.

Parameters:

nativeId - the ID of the pre-existing btRotationalLimitMotor (not zero)

Method Detail

getAccumulatedImpulse

public float getAccumulatedImpulse()

Return the accumulated impulse (native field: m_accumulatedImpulse).

Returns:

the total impulse

getAngle

public float getAngle()

Return this motor's current rotation angle (native field: m_currentPosition).

Returns:

the angle (in radians)

getDamping

public float getDamping()

Return this motor's damping (native field: m_damping).

Returns:

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

getERP

public float getERP()

Return this motor's error-reduction parameter at the limits (native field: m_stopERP).

Returns:

the error-reduction parameter (≥0)

getLimitSoftness

public float getLimitSoftness()

Return this motor's limit softness (native field: m_limitSoftness).

Returns:

the limit softness (or relaxation factor)

getLowerLimit

public float getLowerLimit()

Return this motor's constraint lower limit (native field: m_loLimit).

Returns:

the limit value

getMaxLimitForce

public float getMaxLimitForce()

Return the limit maximum force (native field: m_maxLimitForce).

Returns:

the maximum force on the limit (default=300)

getMaxMotorForce

public float getMaxMotorForce()

Return this motor's maximum force for normal conditions (native field: m_maxMotorForce).

Returns:

the maximum force

getNormalCFM

public float getNormalCFM()

Return this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).

Returns:

the mixing parameter (≥0)

getRestitution

public float getRestitution()

Return this motor's restitution at the limits (native field: m_bounce).

Returns:

the restitution (bounce) factor

getStopCFM

public float getStopCFM()

Return this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).

Returns:

the mixing parameter (≥0)

getTargetVelocity

public float getTargetVelocity()

Return this motor's target velocity (native field: m_targetVelocity).

Returns:

the target velocity (in radians per second)

getUpperLimit

public float getUpperLimit()

Return this motor's constraint upper limit (native field: m_hiLimit).

Returns:

the limit value

isEnableMotor

public boolean isEnableMotor()

Test whether this motor is enabled (native field: m_enableMotor).

Returns:

true if enabled, otherwise false

setAccumulatedImpulse

public void setAccumulatedImpulse(float accumulatedImpulse)

Alter the accumulated impulse (native field: m_accumulatedImpulse).

Parameters:

accumulatedImpulse - the desired total (default=0)

setDamping

public void setDamping(float damping)

Alter this motor's damping (native field: m_damping).

Parameters:

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

setEnableMotor

public void setEnableMotor(boolean enableMotor)

Enable or disable this motor (native field: m_enableMotor).

Parameters:

enableMotor - true→enable, false→disable (default=false)

setERP

public void setERP(float erp)

Alter this motor's error-reduction parameter at the limits (native field: m_stopERP).

Parameters:

erp - the desired error tolerance at limits (≥0, default=0.2)

setLimitSoftness

public void setLimitSoftness(float limitSoftness)

Alter this motor's limit softness (native field: m_limitSoftness).

Parameters:

limitSoftness - the desired limit softness (or relaxation factor) (default=0.5)

setLowerLimit

public void setLowerLimit(float lowerLimit)

Alter this motor's constraint lower limit (native field: m_loLimit).

Parameters:

lowerLimit - the desired limit value (default=1)

setMaxLimitForce

public void setMaxLimitForce(float maxLimitForce)

Alter the limit maximum force (native field: m_maxLimitForce).

Parameters:

maxLimitForce - the desired maximum force on the limit (default=300)

setMaxMotorForce

public void setMaxMotorForce(float maxMotorForce)

Alter this motor's maximum force (native field: m_maxMotorForce).

Parameters:

maxMotorForce - the desired maximum force (default=6)

setNormalCFM

public void setNormalCFM(float cfm)

Alter this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).

Parameters:

cfm - the desired mixing parameter (≥0, default=0)

setRestitution

public void setRestitution(float restitution)

Alter this motor's restitution at the limits (native field: m_bounce).

Parameters:

restitution - the desired restitution (bounce) factor (default=0)

setStopCFM

public void setStopCFM(float cfm)

Alter this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).

Parameters:

cfm - the desired mixing parameter (≥0, default=0)

setTargetVelocity

public void setTargetVelocity(float targetVelocity)

Alter this motor's target velocity (native field: m_targetVelocity).

Parameters:

targetVelocity - the desired target velocity (in radians per second, default=0)

setUpperLimit

public void setUpperLimit(float upperLimit)

Alter this motor's constraint upper limit (native field: m_hiLimit).

Parameters:

upperLimit - the desired limit value (default=-1)