com.jme3.bullet.joints

Class SixDofJoint

java.lang.Object

com.jme3.bullet.joints.PhysicsJoint

com.jme3.bullet.joints.SixDofJoint

All Implemented Interfaces:

com.jme3.export.Savable

Direct Known Subclasses:

SixDofSpringJoint

public class SixDofJoint
extends PhysicsJoint

A joint based on Bullet's btGeneric6DofConstraint.

From the Bullet manual:
This generic constraint can emulate a variety of standard constraints, by configuring each of the 6 degrees of freedom (dof). The first 3 dof axis are linear axis, which represent translation of rigidbodies, and the latter 3 dof axis represent the angular motion. Each axis can be either locked, free or limited. On construction of a new btGeneric6DofSpring2Constraint, all axis are locked. Afterwards the axis can be reconfigured. Note that several combinations that include free and/or limited angular degrees of freedom are undefined.

For each axis:

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

Author:

normenhansen

Field Summary

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

collisionBetweenLinkedBodys, nodeA, nodeB, objectId, pivotA, pivotB

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	SixDofJoint() No-argument constructor needed by SavableClassUtil.
	SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, com.jme3.math.Vector3f pivotA, com.jme3.math.Vector3f pivotB, boolean useLinearReferenceFrameA) Instantiate a SixDofJoint.
	SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, com.jme3.math.Vector3f pivotA, com.jme3.math.Vector3f pivotB, com.jme3.math.Matrix3f rotA, com.jme3.math.Matrix3f rotB, boolean useLinearReferenceFrameA) Instantiate a SixDofJoint.

Method Summary

Modifier and Type	Method and Description
com.jme3.math.Vector3f	getAngles(com.jme3.math.Vector3f storeResult) Copy the joint's rotation angles.
RotationalLimitMotor	getRotationalLimitMotor(int index) Access the indexed RotationalLimitMotor of this joint, the motor which influences rotation around one axis.
TranslationalLimitMotor	getTranslationalLimitMotor() Access the TranslationalLimitMotor of this joint, the motor which influences translation on all 3 axes.
void	read(com.jme3.export.JmeImporter im) De-serialize this joint, for example when loading from a J3O file.
void	setAngularLowerLimit(com.jme3.math.Vector3f vector) Alter the joint's lower limits for rotation of all 3 axes.
void	setAngularUpperLimit(com.jme3.math.Vector3f vector) Alter the joint's upper limits for rotation of all 3 axes.
void	setLinearLowerLimit(com.jme3.math.Vector3f vector) Alter the joint's lower limits for translation of all 3 axes.
void	setLinearUpperLimit(com.jme3.math.Vector3f vector) Alter the joint's upper limits for translation of all 3 axes.
void	write(com.jme3.export.JmeExporter ex) Serialize this joint, for example when saving to a J3O file.

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

destroy, finalize, getAppliedImpulse, getBodyA, getBodyB, getObjectId, getPivotA, getPivotB, isCollisionBetweenLinkedBodys, setCollisionBetweenLinkedBodys

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SixDofJoint

protected SixDofJoint()

No-argument constructor needed by SavableClassUtil. Do not invoke directly!

SixDofJoint

public SixDofJoint(PhysicsRigidBody nodeA,
                   PhysicsRigidBody nodeB,
                   com.jme3.math.Vector3f pivotA,
                   com.jme3.math.Vector3f pivotB,
                   com.jme3.math.Matrix3f rotA,
                   com.jme3.math.Matrix3f rotB,
                   boolean useLinearReferenceFrameA)

Instantiate a SixDofJoint. To be effective, the joint must be added to a physics space.

Parameters:

nodeA - the 1st body connected by the joint (not null, alias created)

nodeB - the 2nd body connected by the joint (not null, alias created)

pivotA - the local offset of the connection point in node A (not null, alias created)

pivotB - the local offset of the connection point in node B (not null, alias created)

rotA - the local orientation of the connection to node A (not null, alias created)

rotB - the local orientation of the connection to node B (not null, alias created)

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

SixDofJoint

public SixDofJoint(PhysicsRigidBody nodeA,
                   PhysicsRigidBody nodeB,
                   com.jme3.math.Vector3f pivotA,
                   com.jme3.math.Vector3f pivotB,
                   boolean useLinearReferenceFrameA)

Instantiate a SixDofJoint. To be effective, the joint must be added to a physics space.

Parameters:

nodeA - the 1st body connected by the joint (not null, alias created)

nodeB - the 2nd body connected by the joint (not null, alias created)

pivotA - the local offset of the connection point in node A (not null, alias created)

pivotB - the local offset of the connection point in node B (not null, alias created)

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

Method Detail

getAngles

public com.jme3.math.Vector3f getAngles(com.jme3.math.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)

getTranslationalLimitMotor

public TranslationalLimitMotor getTranslationalLimitMotor()

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

Returns:

the pre-existing instance

getRotationalLimitMotor

public RotationalLimitMotor getRotationalLimitMotor(int index)

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

Parameters:

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

Returns:

the pre-existing instance

setLinearUpperLimit

public void setLinearUpperLimit(com.jme3.math.Vector3f vector)

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

Parameters:

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

setLinearLowerLimit

public void setLinearLowerLimit(com.jme3.math.Vector3f vector)

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

Parameters:

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

setAngularUpperLimit

public void setAngularUpperLimit(com.jme3.math.Vector3f vector)

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

Parameters:

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

setAngularLowerLimit

public void setAngularLowerLimit(com.jme3.math.Vector3f vector)

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

Parameters:

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

read

public void read(com.jme3.export.JmeImporter im)
          throws java.io.IOException

De-serialize this joint, for example when loading from a J3O file.

Specified by:

read in interface com.jme3.export.Savable

Overrides:

read in class PhysicsJoint

Parameters:

im - importer (not null)

Throws:

java.io.IOException - from importer

write

public void write(com.jme3.export.JmeExporter ex)
           throws java.io.IOException

Serialize this joint, for example when saving to a J3O file.

Specified by:

write in interface com.jme3.export.Savable

Overrides:

write in class PhysicsJoint

Parameters:

ex - exporter (not null)

Throws:

java.io.IOException - from exporter