org.bytedeco.bullet.BulletDynamics

Class btHingeConstraint

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btTypedObject

org.bytedeco.bullet.BulletDynamics.btTypedConstraint

org.bytedeco.bullet.BulletDynamics.btHingeConstraint

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btHingeAccumulatedAngleConstraint

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btHingeConstraint
extends btTypedConstraint

hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space axis defines the orientation of the hinge axis

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.bullet.BulletDynamics.btTypedConstraint

btTypedConstraint.btConstraintInfo1, btTypedConstraint.btConstraintInfo2

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btHingeConstraint(btRigidBody rbA, btRigidBody rbB, btTransform rbAFrame, btTransform rbBFrame)
btHingeConstraint(btRigidBody rbA, btRigidBody rbB, btTransform rbAFrame, btTransform rbBFrame, boolean useReferenceFrameA)
btHingeConstraint(btRigidBody rbA, btRigidBody rbB, btVector3 pivotInA, btVector3 pivotInB, btVector3 axisInA, btVector3 axisInB)
btHingeConstraint(btRigidBody rbA, btRigidBody rbB, btVector3 pivotInA, btVector3 pivotInB, btVector3 axisInA, btVector3 axisInB, boolean useReferenceFrameA)
btHingeConstraint(btRigidBody rbA, btTransform rbAFrame)
btHingeConstraint(btRigidBody rbA, btTransform rbAFrame, boolean useReferenceFrameA)
btHingeConstraint(btRigidBody rbA, btVector3 pivotInA, btVector3 axisInA)
btHingeConstraint(btRigidBody rbA, btVector3 pivotInA, btVector3 axisInA, boolean useReferenceFrameA)
btHingeConstraint(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	buildJacobian() internal method used by the constraint solver, don't use them directly
int	calculateSerializeBufferSize()
void	enableAngularMotor(boolean enableMotor, double targetVelocity, double maxMotorImpulse)
void	enableMotor(boolean enableMotor)
btTransform	getAFrame()
boolean	getAngularOnly()
btTransform	getBFrame()
boolean	getEnableAngularMotor()
int	getFlags()
btTransform	getFrameOffsetA()
btTransform	getFrameOffsetB()
double	getHingeAngle() The getHingeAngle gives the hinge angle in range [-PI,PI]
double	getHingeAngle(btTransform transA, btTransform transB)
void	getInfo1(btTypedConstraint.btConstraintInfo1 info) internal method used by the constraint solver, don't use them directly
void	getInfo1NonVirtual(btTypedConstraint.btConstraintInfo1 info)
void	getInfo2(btTypedConstraint.btConstraintInfo2 info) internal method used by the constraint solver, don't use them directly
void	getInfo2Internal(btTypedConstraint.btConstraintInfo2 info, btTransform transA, btTransform transB, btVector3 angVelA, btVector3 angVelB)
void	getInfo2InternalUsingFrameOffset(btTypedConstraint.btConstraintInfo2 info, btTransform transA, btTransform transB, btVector3 angVelA, btVector3 angVelB)
void	getInfo2NonVirtual(btTypedConstraint.btConstraintInfo2 info, btTransform transA, btTransform transB, btVector3 angVelA, btVector3 angVelB)
double	getLimitBiasFactor()
double	getLimitRelaxationFactor()
double	getLimitSign()
double	getLimitSoftness()
double	getLowerLimit()
double	getMaxMotorImpulse()
double	getMotorTargetVelocity()
double	getParam(int num)
double	getParam(int num, int axis) return the local value of parameter
btRigidBody	getRigidBodyA()
btRigidBody	getRigidBodyB()
int	getSolveLimit()
double	getUpperLimit()
boolean	getUseFrameOffset()
boolean	getUseReferenceFrameA()
boolean	hasLimit()
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	setAngularOnly(boolean angularOnly)
void	setAxis(btVector3 axisInA)
void	setFrames(btTransform frameA, btTransform frameB)
void	setLimit(double low, double high)
void	setLimit(double low, double high, double _softness, double _biasFactor, double _relaxationFactor)
void	setMaxMotorImpulse(double maxMotorImpulse)
void	setMotorTarget(btQuaternion qAinB, double dt)
void	setMotorTarget(double targetAngle, double dt)
void	setMotorTargetVelocity(double motorTargetVelocity)
void	setParam(int num, double value)
void	setParam(int num, double value, int axis) override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
void	setUseFrameOffset(boolean frameOffsetOnOff)
void	setUseReferenceFrameA(boolean useReferenceFrameA)
void	testLimit(btTransform transA, btTransform transB)
void	updateRHS(double timeStep)

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btTypedConstraint

enableFeedback, getAppliedImpulse, getBreakingImpulseThreshold, getConstraintType, getDbgDrawSize, getFixedBody, getJointFeedback, getOverrideNumSolverIterations, getUid, getUserConstraintId, getUserConstraintPtr, getUserConstraintType, internalGetAppliedImpulse, internalSetAppliedImpulse, isEnabled, needsFeedback, setBreakingImpulseThreshold, setDbgDrawSize, setEnabled, setJointFeedback, setOverrideNumSolverIterations, setupSolverConstraint, setUserConstraintId, setUserConstraintPtr, setUserConstraintType, solveConstraintObsolete

Methods inherited from class org.bytedeco.bullet.LinearMath.btTypedObject

getObjectType, m_objectType, m_objectType

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

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

Constructor Detail

btHingeConstraint

public btHingeConstraint(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @ByRef
                         btRigidBody rbB,
                         @Const @ByRef
                         btVector3 pivotInA,
                         @Const @ByRef
                         btVector3 pivotInB,
                         @Const @ByRef
                         btVector3 axisInA,
                         @Const @ByRef
                         btVector3 axisInB,
                         @Cast(value="bool")
                         boolean useReferenceFrameA)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @ByRef
                         btRigidBody rbB,
                         @Const @ByRef
                         btVector3 pivotInA,
                         @Const @ByRef
                         btVector3 pivotInB,
                         @Const @ByRef
                         btVector3 axisInA,
                         @Const @ByRef
                         btVector3 axisInB)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @Const @ByRef
                         btVector3 pivotInA,
                         @Const @ByRef
                         btVector3 axisInA,
                         @Cast(value="bool")
                         boolean useReferenceFrameA)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @Const @ByRef
                         btVector3 pivotInA,
                         @Const @ByRef
                         btVector3 axisInA)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @ByRef
                         btRigidBody rbB,
                         @Const @ByRef
                         btTransform rbAFrame,
                         @Const @ByRef
                         btTransform rbBFrame,
                         @Cast(value="bool")
                         boolean useReferenceFrameA)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @ByRef
                         btRigidBody rbB,
                         @Const @ByRef
                         btTransform rbAFrame,
                         @Const @ByRef
                         btTransform rbBFrame)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @Const @ByRef
                         btTransform rbAFrame,
                         @Cast(value="bool")
                         boolean useReferenceFrameA)

btHingeConstraint

public btHingeConstraint(@ByRef
                         btRigidBody rbA,
                         @Const @ByRef
                         btTransform rbAFrame)

Method Detail

buildJacobian

public void buildJacobian()

Description copied from class: btTypedConstraint

internal method used by the constraint solver, don't use them directly

Overrides:

buildJacobian in class btTypedConstraint

getInfo1

public void getInfo1(btTypedConstraint.btConstraintInfo1 info)

Description copied from class: btTypedConstraint

internal method used by the constraint solver, don't use them directly

Overrides:

getInfo1 in class btTypedConstraint

getInfo1NonVirtual

public void getInfo1NonVirtual(btTypedConstraint.btConstraintInfo1 info)

getInfo2

public void getInfo2(btTypedConstraint.btConstraintInfo2 info)

Description copied from class: btTypedConstraint

internal method used by the constraint solver, don't use them directly

Overrides:

getInfo2 in class btTypedConstraint

getInfo2NonVirtual

public void getInfo2NonVirtual(btTypedConstraint.btConstraintInfo2 info,
                               @Const @ByRef
                               btTransform transA,
                               @Const @ByRef
                               btTransform transB,
                               @Const @ByRef
                               btVector3 angVelA,
                               @Const @ByRef
                               btVector3 angVelB)

getInfo2Internal

public void getInfo2Internal(btTypedConstraint.btConstraintInfo2 info,
                             @Const @ByRef
                             btTransform transA,
                             @Const @ByRef
                             btTransform transB,
                             @Const @ByRef
                             btVector3 angVelA,
                             @Const @ByRef
                             btVector3 angVelB)

getInfo2InternalUsingFrameOffset

public void getInfo2InternalUsingFrameOffset(btTypedConstraint.btConstraintInfo2 info,
                                             @Const @ByRef
                                             btTransform transA,
                                             @Const @ByRef
                                             btTransform transB,
                                             @Const @ByRef
                                             btVector3 angVelA,
                                             @Const @ByRef
                                             btVector3 angVelB)

updateRHS

public void updateRHS(@Cast(value="btScalar")
                      double timeStep)

getRigidBodyA

@ByRef
public btRigidBody getRigidBodyA()

Overrides:

getRigidBodyA in class btTypedConstraint

getRigidBodyB

@ByRef
public btRigidBody getRigidBodyB()

Overrides:

getRigidBodyB in class btTypedConstraint

getFrameOffsetA

@ByRef
public btTransform getFrameOffsetA()

getFrameOffsetB

@ByRef
public btTransform getFrameOffsetB()

setFrames

public void setFrames(@Const @ByRef
                      btTransform frameA,
                      @Const @ByRef
                      btTransform frameB)

setAngularOnly

public void setAngularOnly(@Cast(value="bool")
                           boolean angularOnly)

enableAngularMotor

public void enableAngularMotor(@Cast(value="bool")
                               boolean enableMotor,
                               @Cast(value="btScalar")
                               double targetVelocity,
                               @Cast(value="btScalar")
                               double maxMotorImpulse)

enableMotor

public void enableMotor(@Cast(value="bool")
                        boolean enableMotor)

setMaxMotorImpulse

public void setMaxMotorImpulse(@Cast(value="btScalar")
                               double maxMotorImpulse)

setMotorTargetVelocity

public void setMotorTargetVelocity(@Cast(value="btScalar")
                                   double motorTargetVelocity)

setMotorTarget

public void setMotorTarget(@Const @ByRef
                           btQuaternion qAinB,
                           @Cast(value="btScalar")
                           double dt)

setMotorTarget

public void setMotorTarget(@Cast(value="btScalar")
                           double targetAngle,
                           @Cast(value="btScalar")
                           double dt)

setLimit

public void setLimit(@Cast(value="btScalar")
                     double low,
                     @Cast(value="btScalar")
                     double high,
                     @Cast(value="btScalar")
                     double _softness,
                     @Cast(value="btScalar")
                     double _biasFactor,
                     @Cast(value="btScalar")
                     double _relaxationFactor)

setLimit

public void setLimit(@Cast(value="btScalar")
                     double low,
                     @Cast(value="btScalar")
                     double high)

getLimitSoftness

@Cast(value="btScalar")
public double getLimitSoftness()

getLimitBiasFactor

@Cast(value="btScalar")
public double getLimitBiasFactor()

getLimitRelaxationFactor

@Cast(value="btScalar")
public double getLimitRelaxationFactor()

setAxis

public void setAxis(@ByRef
                    btVector3 axisInA)

hasLimit

@Cast(value="bool")
public boolean hasLimit()

getLowerLimit

@Cast(value="btScalar")
public double getLowerLimit()

getUpperLimit

@Cast(value="btScalar")
public double getUpperLimit()

getHingeAngle

@Cast(value="btScalar")
public double getHingeAngle()

The getHingeAngle gives the hinge angle in range [-PI,PI]

getHingeAngle

@Cast(value="btScalar")
public double getHingeAngle(@Const @ByRef
                                                    btTransform transA,
                                                    @Const @ByRef
                                                    btTransform transB)

testLimit

public void testLimit(@Const @ByRef
                      btTransform transA,
                      @Const @ByRef
                      btTransform transB)

getAFrame

@ByRef
public btTransform getAFrame()

getBFrame

@ByRef
public btTransform getBFrame()

getSolveLimit

public int getSolveLimit()

getLimitSign

@Cast(value="btScalar")
public double getLimitSign()

getAngularOnly

@Cast(value="bool")
public boolean getAngularOnly()

getEnableAngularMotor

@Cast(value="bool")
public boolean getEnableAngularMotor()

getMotorTargetVelocity

@Cast(value="btScalar")
public double getMotorTargetVelocity()

getMaxMotorImpulse

@Cast(value="btScalar")
public double getMaxMotorImpulse()

getUseFrameOffset

@Cast(value="bool")
public boolean getUseFrameOffset()

setUseFrameOffset

public void setUseFrameOffset(@Cast(value="bool")
                              boolean frameOffsetOnOff)

getUseReferenceFrameA

@Cast(value="bool")
public boolean getUseReferenceFrameA()

setUseReferenceFrameA

public void setUseReferenceFrameA(@Cast(value="bool")
                                  boolean useReferenceFrameA)

setParam

public void setParam(int num,
                     @Cast(value="btScalar")
                     double value,
                     int axis)

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). If no axis is provided, it uses the default axis for this constraint.

Overrides:

setParam in class btTypedConstraint

setParam

public void setParam(int num,
                     @Cast(value="btScalar")
                     double value)

Overrides:

setParam in class btTypedConstraint

getParam

@Cast(value="btScalar")
public double getParam(int num,
                                               int axis)

return the local value of parameter

Overrides:

getParam in class btTypedConstraint

getParam

@Cast(value="btScalar")
public double getParam(int num)

Overrides:

getParam in class btTypedConstraint

getFlags

public int getFlags()

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

Overrides:

calculateSerializeBufferSize in class btTypedConstraint

serialize

@Cast(value="const char*")
public BytePointer serialize(Pointer dataBuffer,
                                                        btSerializer serializer)

fills the dataBuffer and returns the struct name (and 0 on failure)

Overrides:

serialize in class btTypedConstraint