com.jme3.bullet.joints

Class SixDofJoint

java.lang.Object

com.jme3.bullet.joints.PhysicsJoint

com.jme3.bullet.joints.SixDofJoint

All Implemented Interfaces:

Savable

public class SixDofJoint
extends PhysicsJoint

From 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 axes are linear axes, which represent translation of rigid bodies, and the latter 3 DOF axes represent the angular motion. Each axis can be either locked, free or limited. On construction of a new btGeneric6DofConstraint, 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.

Field Summary

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

collisionBetweenLinkedBodys, constraint, nodeA, nodeB, pivotA, pivotB

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	SixDofJoint()
	SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA)
	SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA)

Method Summary

Modifier and Type	Method and Description
RotationalLimitMotor	getRotationalLimitMotor(int index) returns one of the three RotationalLimitMotors of this 6DofJoint which allow manipulating the rotational axes
TranslationalLimitMotor	getTranslationalLimitMotor() returns the TranslationalLimitMotor of this 6DofJoint which allows manipulating the translational axis
void	read(JmeImporter im)
void	setAngularLowerLimit(Vector3f vector)
void	setAngularUpperLimit(Vector3f vector)
void	setLinearLowerLimit(Vector3f vector)
void	setLinearUpperLimit(Vector3f vector)
void	write(JmeExporter ex)

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

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

Methods inherited from class java.lang.Object

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

Constructor Detail

SixDofJoint

protected SixDofJoint()

SixDofJoint

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

Parameters:

nodeA - the body for the A end (not null, alias created)

nodeB - the body for the B end (not null, alias created)

pivotA - local translation of the joint connection point in node A

pivotB - local translation of the joint connection point in node B

rotA - the joint orientation in A's local coordinates (rotation matrix, unaffected)

rotB - the joint orientation in B's local coordinates (rotation matrix, unaffected)

useLinearReferenceFrameA - true→use body A, false→use body

SixDofJoint

public SixDofJoint(PhysicsRigidBody nodeA,
                   PhysicsRigidBody nodeB,
                   Vector3f pivotA,
                   Vector3f pivotB,
                   boolean useLinearReferenceFrameA)

Parameters:

nodeA - the body for the A end (not null, alias created)

nodeB - the body for the B end (not null, alias created)

pivotA - local translation of the joint connection point in node A

pivotB - local translation of the joint connection point in node B

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

Method Detail

getTranslationalLimitMotor

public TranslationalLimitMotor getTranslationalLimitMotor()

returns the TranslationalLimitMotor of this 6DofJoint which allows manipulating the translational axis

Returns:

the TranslationalLimitMotor

getRotationalLimitMotor

public RotationalLimitMotor getRotationalLimitMotor(int index)

returns one of the three RotationalLimitMotors of this 6DofJoint which allow manipulating the rotational axes

Parameters:

index - the index of the RotationalLimitMotor

Returns:

the RotationalLimitMotor at the given index

setLinearUpperLimit

public void setLinearUpperLimit(Vector3f vector)

setLinearLowerLimit

public void setLinearLowerLimit(Vector3f vector)

setAngularUpperLimit

public void setAngularUpperLimit(Vector3f vector)

setAngularLowerLimit

public void setAngularLowerLimit(Vector3f vector)

read

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

Specified by:

read in interface Savable

Overrides:

read in class PhysicsJoint

Throws:

java.io.IOException

write

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

Specified by:

write in interface Savable

Overrides:

write in class PhysicsJoint

Throws:

java.io.IOException