com.jme3.bullet.joints

Class SliderJoint

java.lang.Object

com.jme3.bullet.joints.PhysicsJoint

com.jme3.bullet.joints.SliderJoint

All Implemented Interfaces:

com.jme3.export.Savable

public class SliderJoint
extends PhysicsJoint

A slider joint based on Bullet's btSliderConstraint.

From the Bullet manual:
The slider constraint allows the body to rotate around one axis and translate along this axis.

Author:

normenhansen

Field Summary

Fields

Modifier and Type	Field and Description
protected com.jme3.math.Matrix3f	rotA
protected com.jme3.math.Matrix3f	rotB
protected boolean	useLinearReferenceFrameA

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

collisionBetweenLinkedBodys, nodeA, nodeB, objectId, pivotA, pivotB

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
protected void	createJoint() Instantiate the configured constraint in Bullet.
float	getDampingDirAng() Read the joint's damping for on-axis rotation between the limits.
float	getDampingDirLin() Read the joint's damping for on-axis translation between the limits.
float	getDampingLimAng() Read the joint's damping for on-axis rotation hitting the limits.
float	getDampingLimLin() Read the joint's damping for on-axis translation hitting the limits.
float	getDampingOrthoAng() Read the joint's damping for off-axis rotation.
float	getDampingOrthoLin() Read the joint's damping for off-axis translation.
float	getLowerAngLimit() Read the joint's lower limit for on-axis rotation.
float	getLowerLinLimit() Read the joint's lower limit for on-axis translation.
float	getMaxAngMotorForce() Read the maximum force of the rotation motor.
float	getMaxLinMotorForce() Read the maximum force of the translation motor.
float	getRestitutionDirAng() Read the joint's restitution for on-axis rotation between the limits.
float	getRestitutionDirLin() Read the joint's restitution for on-axis translation between the limits.
float	getRestitutionLimAng() Read the joint's restitution for on-axis rotation hitting the limits.
float	getRestitutionLimLin() Read the joint's restitution for on-axis translation hitting the limits.
float	getRestitutionOrthoAng() Read the joint's restitution for off-axis rotation.
float	getRestitutionOrthoLin() Read the joint's restitution for off-axis translation.
float	getSoftnessDirAng() Read the joint's softness for on-axis rotation between the limits.
float	getSoftnessDirLin() Read the joint's softness for on-axis translation between the limits.
float	getSoftnessLimAng() Read the joint's softness for on-axis rotation hitting the limits.
float	getSoftnessLimLin() Read the joint's softness for on-axis translation hitting the limits.
float	getSoftnessOrthoAng() Read the joint's softness for off-axis rotation.
float	getSoftnessOrthoLin() Read the joint's softness for off-axis translation.
float	getTargetAngMotorVelocity() Read the velocity target of the rotation motor.
float	getTargetLinMotorVelocity() Read the velocity target of the translation motor.
float	getUpperAngLimit() Read the joint's upper limit for on-axis rotation.
float	getUpperLinLimit() Read the joint's upper limit for on-axis translation.
boolean	isPoweredAngMotor() Test whether the rotation motor is powered.
boolean	isPoweredLinMotor() Test whether the translation motor is powered.
void	read(com.jme3.export.JmeImporter im) De-serialize this joint, for example when loading from a J3O file.
void	setDampingDirAng(float dampingDirAng) Alter the joint's damping for on-axis rotation between the limits.
void	setDampingDirLin(float dampingDirLin) Alter the joint's damping for on-axis translation between the limits.
void	setDampingLimAng(float dampingLimAng) Alter the joint's damping for on-axis rotation hitting the limits.
void	setDampingLimLin(float dampingLimLin) Alter the joint's damping for on-axis translation hitting the limits.
void	setDampingOrthoAng(float dampingOrthoAng) Alter the joint's damping for off-axis rotation.
void	setDampingOrthoLin(float dampingOrthoLin) Alter the joint's damping for off-axis translation.
void	setLowerAngLimit(float lowerAngLimit) Alter the joint's lower limit for on-axis rotation.
void	setLowerLinLimit(float lowerLinLimit) Alter the joint's lower limit for on-axis translation.
void	setMaxAngMotorForce(float maxAngMotorForce) Alter the maximum force of the rotation motor.
void	setMaxLinMotorForce(float maxLinMotorForce) Alter the maximum force of the translation motor.
void	setPoweredAngMotor(boolean poweredAngMotor) Alter whether the rotation motor is powered.
void	setPoweredLinMotor(boolean poweredLinMotor) Alter whether the translation motor is powered.
void	setRestitutionDirAng(float restitutionDirAng) Alter the joint's restitution for on-axis rotation between the limits.
void	setRestitutionDirLin(float restitutionDirLin) Alter the joint's restitution for on-axis translation between the limits.
void	setRestitutionLimAng(float restitutionLimAng) Alter the joint's restitution for on-axis rotation hitting the limits.
void	setRestitutionLimLin(float restitutionLimLin) Alter the joint's restitution for on-axis translation hitting the limits.
void	setRestitutionOrthoAng(float restitutionOrthoAng) Alter the joint's restitution for off-axis rotation.
void	setRestitutionOrthoLin(float restitutionOrthoLin) Alter the joint's restitution for off-axis translation.
void	setSoftnessDirAng(float softnessDirAng) Alter the joint's softness for on-axis rotation between the limits.
void	setSoftnessDirLin(float softnessDirLin) Alter the joint's softness for on-axis translation between the limits.
void	setSoftnessLimAng(float softnessLimAng) Alter the joint's softness for on-axis rotation hitting the limits.
void	setSoftnessLimLin(float softnessLimLin) Alter the joint's softness for on-axis translation hitting the limits.
void	setSoftnessOrthoAng(float softnessOrthoAng) Alter the joint's softness for off-axis rotation.
void	setSoftnessOrthoLin(float softnessOrthoLin) Alter the joint's softness for off-axis translation.
void	setTargetAngMotorVelocity(float targetAngMotorVelocity) Alter the velocity target of the rotation motor.
void	setTargetLinMotorVelocity(float targetLinMotorVelocity) Alter the velocity target of the translation motor.
void	setUpperAngLimit(float upperAngLimit) Alter the joint's upper limit for on-axis rotation.
void	setUpperLinLimit(float upperLinLimit) Alter the joint's upper limit for on-axis translation.
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

Field Detail

rotA

protected com.jme3.math.Matrix3f rotA

rotB

protected com.jme3.math.Matrix3f rotB

useLinearReferenceFrameA

protected boolean useLinearReferenceFrameA

Constructor Detail

SliderJoint

protected SliderJoint()

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

SliderJoint

public SliderJoint(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 SliderJoint. 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

SliderJoint

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

Instantiate a SliderJoint. 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

getLowerLinLimit

public float getLowerLinLimit()

Read the joint's lower limit for on-axis translation.

Returns:

the lower limit

setLowerLinLimit

public void setLowerLinLimit(float lowerLinLimit)

Alter the joint's lower limit for on-axis translation.

Parameters:

lowerLinLimit - the desired lower limit (default=-1)

getUpperLinLimit

public float getUpperLinLimit()

Read the joint's upper limit for on-axis translation.

Returns:

the upper limit

setUpperLinLimit

public void setUpperLinLimit(float upperLinLimit)

Alter the joint's upper limit for on-axis translation.

Parameters:

upperLinLimit - the desired upper limit (default=1)

getLowerAngLimit

public float getLowerAngLimit()

Read the joint's lower limit for on-axis rotation.

Returns:

the lower limit angle (in radians)

setLowerAngLimit

public void setLowerAngLimit(float lowerAngLimit)

Alter the joint's lower limit for on-axis rotation.

Parameters:

lowerAngLimit - the desired lower limit angle (in radians, default=0)

getUpperAngLimit

public float getUpperAngLimit()

Read the joint's upper limit for on-axis rotation.

Returns:

the upper limit angle (in radians)

setUpperAngLimit

public void setUpperAngLimit(float upperAngLimit)

Alter the joint's upper limit for on-axis rotation.

Parameters:

upperAngLimit - the desired upper limit angle (in radians, default=0)

getSoftnessDirLin

public float getSoftnessDirLin()

Read the joint's softness for on-axis translation between the limits.

Returns:

the softness

setSoftnessDirLin

public void setSoftnessDirLin(float softnessDirLin)

Alter the joint's softness for on-axis translation between the limits.

Parameters:

softnessDirLin - the desired softness (default=1)

getRestitutionDirLin

public float getRestitutionDirLin()

Read the joint's restitution for on-axis translation between the limits.

Returns:

the restitution (bounce) factor

setRestitutionDirLin

public void setRestitutionDirLin(float restitutionDirLin)

Alter the joint's restitution for on-axis translation between the limits.

Parameters:

restitutionDirLin - the desired restitution (bounce) factor (default=0.7)

getDampingDirLin

public float getDampingDirLin()

Read the joint's damping for on-axis translation between the limits.

Returns:

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

setDampingDirLin

public void setDampingDirLin(float dampingDirLin)

Alter the joint's damping for on-axis translation between the limits.

Parameters:

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

getSoftnessDirAng

public float getSoftnessDirAng()

Read the joint's softness for on-axis rotation between the limits.

Returns:

the softness

setSoftnessDirAng

public void setSoftnessDirAng(float softnessDirAng)

Alter the joint's softness for on-axis rotation between the limits.

Parameters:

softnessDirAng - the desired softness (default=1)

getRestitutionDirAng

public float getRestitutionDirAng()

Read the joint's restitution for on-axis rotation between the limits.

Returns:

the restitution (bounce) factor

setRestitutionDirAng

public void setRestitutionDirAng(float restitutionDirAng)

Alter the joint's restitution for on-axis rotation between the limits.

Parameters:

restitutionDirAng - the desired restitution (bounce) factor (default=0.7)

getDampingDirAng

public float getDampingDirAng()

Read the joint's damping for on-axis rotation between the limits.

Returns:

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

setDampingDirAng

public void setDampingDirAng(float dampingDirAng)

Alter the joint's damping for on-axis rotation between the limits.

Parameters:

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

getSoftnessLimLin

public float getSoftnessLimLin()

Read the joint's softness for on-axis translation hitting the limits.

Returns:

the softness

setSoftnessLimLin

public void setSoftnessLimLin(float softnessLimLin)

Alter the joint's softness for on-axis translation hitting the limits.

Parameters:

softnessLimLin - the desired softness (default=1)

getRestitutionLimLin

public float getRestitutionLimLin()

Read the joint's restitution for on-axis translation hitting the limits.

Returns:

the restitution (bounce) factor

setRestitutionLimLin

public void setRestitutionLimLin(float restitutionLimLin)

Alter the joint's restitution for on-axis translation hitting the limits.

Parameters:

restitutionLimLin - the desired restitution (bounce) factor (default=0.7)

getDampingLimLin

public float getDampingLimLin()

Read the joint's damping for on-axis translation hitting the limits.

Returns:

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

setDampingLimLin

public void setDampingLimLin(float dampingLimLin)

Alter the joint's damping for on-axis translation hitting the limits.

Parameters:

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

getSoftnessLimAng

public float getSoftnessLimAng()

Read the joint's softness for on-axis rotation hitting the limits.

Returns:

the softness

setSoftnessLimAng

public void setSoftnessLimAng(float softnessLimAng)

Alter the joint's softness for on-axis rotation hitting the limits.

Parameters:

softnessLimAng - the desired softness (default=1)

getRestitutionLimAng

public float getRestitutionLimAng()

Read the joint's restitution for on-axis rotation hitting the limits.

Returns:

the restitution (bounce) factor

setRestitutionLimAng

public void setRestitutionLimAng(float restitutionLimAng)

Alter the joint's restitution for on-axis rotation hitting the limits.

Parameters:

restitutionLimAng - the desired restitution (bounce) factor (default=0.7)

getDampingLimAng

public float getDampingLimAng()

Read the joint's damping for on-axis rotation hitting the limits.

Returns:

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

setDampingLimAng

public void setDampingLimAng(float dampingLimAng)

Alter the joint's damping for on-axis rotation hitting the limits.

Parameters:

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

getSoftnessOrthoLin

public float getSoftnessOrthoLin()

Read the joint's softness for off-axis translation.

Returns:

the softness

setSoftnessOrthoLin

public void setSoftnessOrthoLin(float softnessOrthoLin)

Alter the joint's softness for off-axis translation.

Parameters:

softnessOrthoLin - the desired softness (default=1)

getRestitutionOrthoLin

public float getRestitutionOrthoLin()

Read the joint's restitution for off-axis translation.

Returns:

the restitution (bounce) factor

setRestitutionOrthoLin

public void setRestitutionOrthoLin(float restitutionOrthoLin)

Alter the joint's restitution for off-axis translation.

Parameters:

restitutionOrthoLin - the desired restitution (bounce) factor (default=0.7)

getDampingOrthoLin

public float getDampingOrthoLin()

Read the joint's damping for off-axis translation.

Returns:

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

setDampingOrthoLin

public void setDampingOrthoLin(float dampingOrthoLin)

Alter the joint's damping for off-axis translation.

Parameters:

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

getSoftnessOrthoAng

public float getSoftnessOrthoAng()

Read the joint's softness for off-axis rotation.

Returns:

the softness

setSoftnessOrthoAng

public void setSoftnessOrthoAng(float softnessOrthoAng)

Alter the joint's softness for off-axis rotation.

Parameters:

softnessOrthoAng - the desired softness (default=1)

getRestitutionOrthoAng

public float getRestitutionOrthoAng()

Read the joint's restitution for off-axis rotation.

Returns:

the restitution (bounce) factor

setRestitutionOrthoAng

public void setRestitutionOrthoAng(float restitutionOrthoAng)

Alter the joint's restitution for off-axis rotation.

Parameters:

restitutionOrthoAng - the desired restitution (bounce) factor (default=0.7)

getDampingOrthoAng

public float getDampingOrthoAng()

Read the joint's damping for off-axis rotation.

Returns:

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

setDampingOrthoAng

public void setDampingOrthoAng(float dampingOrthoAng)

Alter the joint's damping for off-axis rotation.

Parameters:

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

isPoweredLinMotor

public boolean isPoweredLinMotor()

Test whether the translation motor is powered.

Returns:

true if powered, otherwise false

setPoweredLinMotor

public void setPoweredLinMotor(boolean poweredLinMotor)

Alter whether the translation motor is powered.

Parameters:

poweredLinMotor - true to power the motor, false to de-power it (default=false)

getTargetLinMotorVelocity

public float getTargetLinMotorVelocity()

Read the velocity target of the translation motor.

Returns:

the velocity target

setTargetLinMotorVelocity

public void setTargetLinMotorVelocity(float targetLinMotorVelocity)

Alter the velocity target of the translation motor.

Parameters:

targetLinMotorVelocity - the desired velocity target (default=0)

getMaxLinMotorForce

public float getMaxLinMotorForce()

Read the maximum force of the translation motor.

Returns:

the maximum force

setMaxLinMotorForce

public void setMaxLinMotorForce(float maxLinMotorForce)

Alter the maximum force of the translation motor.

Parameters:

maxLinMotorForce - the desired maximum force (default=0)

isPoweredAngMotor

public boolean isPoweredAngMotor()

Test whether the rotation motor is powered.

Returns:

true if powered, otherwise false

setPoweredAngMotor

public void setPoweredAngMotor(boolean poweredAngMotor)

Alter whether the rotation motor is powered.

Parameters:

poweredAngMotor - true to power the motor, false to de-power it (default=false)

getTargetAngMotorVelocity

public float getTargetAngMotorVelocity()

Read the velocity target of the rotation motor.

Returns:

the velocity target (in radians per second)

setTargetAngMotorVelocity

public void setTargetAngMotorVelocity(float targetAngMotorVelocity)

Alter the velocity target of the rotation motor.

Parameters:

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

getMaxAngMotorForce

public float getMaxAngMotorForce()

Read the maximum force of the rotation motor.

Returns:

the maximum force

setMaxAngMotorForce

public void setMaxAngMotorForce(float maxAngMotorForce)

Alter the maximum force of the rotation motor.

Parameters:

maxAngMotorForce - the desired maximum force (default=0)

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

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

createJoint

protected void createJoint()

Instantiate the configured constraint in Bullet.