SliderJoint (jMonkeyEngine3)

java.lang.Object
- com.jme3.bullet.joints.PhysicsJoint
- - com.jme3.bullet.joints.SliderJoint

All Implemented Interfaces:

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.

Field Summary

Fields
Modifier and Type Field and Description

protected Matrix3f rotA

protected Matrix3f rotB

protected boolean useLinearReferenceFrameA
- Fields inherited from class com.jme3.bullet.joints.PhysicsJoint
  collisionBetweenLinkedBodys, nodeA, nodeB, objectId, pivotA, pivotB

Fields
Modifier and Type	Field and Description
`protected Matrix3f`	`rotA`
`protected Matrix3f`	`rotB`
`protected boolean`	`useLinearReferenceFrameA`

Constructor Summary

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

Method Summary

All Methods Instance Methods Concrete Methods
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(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(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 Matrix3f rotA
```
  - rotB
```
protected 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,
                   Vector3f pivotA,
                   Vector3f pivotB,
                   Matrix3f rotA,
                   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,
                   Vector3f pivotA,
                   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(JmeExporter ex)
           throws java.io.IOException
```
    Serialize this joint, for example when saving to a J3O file.
    
    Specified by:
    
    write in interface Savable
    
    Overrides:
    
    write in class PhysicsJoint
    
    Parameters:
    
    ex - exporter (not null)
    
    Throws:
    
    java.io.IOException - from exporter
  - read
```
public void read(JmeImporter im)
          throws java.io.IOException
```
    De-serialize this joint, for example when loading from a J3O file.
    
    Specified by:
    
    read in interface 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.

Class SliderJoint

Field Summary

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

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

Field Detail

rotA

rotB

useLinearReferenceFrameA

Constructor Detail

SliderJoint

SliderJoint

SliderJoint

Method Detail

getLowerLinLimit

setLowerLinLimit

getUpperLinLimit

setUpperLinLimit

getLowerAngLimit

setLowerAngLimit

getUpperAngLimit

setUpperAngLimit

getSoftnessDirLin

setSoftnessDirLin

getRestitutionDirLin

setRestitutionDirLin

getDampingDirLin

setDampingDirLin

getSoftnessDirAng

setSoftnessDirAng

getRestitutionDirAng

setRestitutionDirAng

getDampingDirAng

setDampingDirAng

getSoftnessLimLin

setSoftnessLimLin

getRestitutionLimLin

setRestitutionLimLin

getDampingLimLin

setDampingLimLin

getSoftnessLimAng

setSoftnessLimAng

getRestitutionLimAng

setRestitutionLimAng

getDampingLimAng

setDampingLimAng

getSoftnessOrthoLin

setSoftnessOrthoLin

getRestitutionOrthoLin

setRestitutionOrthoLin

getDampingOrthoLin

setDampingOrthoLin

getSoftnessOrthoAng

setSoftnessOrthoAng

getRestitutionOrthoAng

setRestitutionOrthoAng

getDampingOrthoAng

setDampingOrthoAng

isPoweredLinMotor

setPoweredLinMotor

getTargetLinMotorVelocity

setTargetLinMotorVelocity

getMaxLinMotorForce

setMaxLinMotorForce

isPoweredAngMotor

setPoweredAngMotor

getTargetAngMotorVelocity

setTargetAngMotorVelocity

getMaxAngMotorForce

setMaxAngMotorForce

write

read

createJoint