Package com.jme3.bullet

Class MultiBodyLink

java.lang.Object
com.jme3.bullet.NativePhysicsObject
com.jme3.bullet.MultiBodyLink
All Implemented Interfaces:
com.jme3.export.Savable, com.jme3.util.clone.JmeCloneable, Cloneable, Comparable<NativePhysicsObject>
public class MultiBodyLink extends NativePhysicsObject implements com.jme3.util.clone.JmeCloneable, com.jme3.export.Savable
A single link in a MultiBody, based on Bullet's btMultibodyLink.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final Logger
    logger
    message logger for this class

    Fields inherited from class com.jme3.bullet.NativePhysicsObject

    loggerN

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    protected
    MultiBodyLink()
    No-argument constructor needed by SavableClassUtil.

  • Method Summary

    Modifier and Type
    Method
    Description
    MultiBodyCollider
    addCollider(CollisionShape shape)
    Add a collider for this link.
    void
    addConstraintForce(com.jme3.math.Vector3f force)
    Add an external force to this link.
    void
    addConstraintTorque(com.jme3.math.Vector3f torque)
    Add an external torque to this link.
    void
    addForce(com.jme3.math.Vector3f force)
    Add an external force to this link.
    void
    addJointTorque(int dofIndex, float torque)
    Add an external torque to this link's joint.
    void
    addTorque(com.jme3.math.Vector3f torque)
    Add an external torque to this link.
    com.jme3.math.Vector3f
    appliedForce(com.jme3.math.Vector3f storeResult)
    Determine the net applied force on this link.
    com.jme3.math.Vector3f
    appliedTorque(com.jme3.math.Vector3f storeResult)
    Determine the net applied torque on this link.
    com.jme3.math.Vector3f
    axis(com.jme3.math.Vector3f storeResult)
    Determine the direction of the joint's axis for a planar, prismatic, or revolute joint.
    void
    cloneFields(com.jme3.util.clone.Cloner cloner, Object original)
    Callback from Cloner to convert this shallow-cloned object into a deep-cloned one, using the specified Cloner and original to resolve copied fields.
    com.jme3.math.Vector3f
    constraintForce(com.jme3.math.Vector3f storeResult)
    Determine the net constraint force on this link.
    com.jme3.math.Vector3f
    constraintTorque(com.jme3.math.Vector3f storeResult)
    Determine the net constraint torque on this link.
    int
    countDofs()
    Count the degrees of freedom in the joint.
    int
    countPositionVariables()
    Count the position variables in the joint.
    MultiBodyCollider
    getCollider()
    Access the collider for this link.
    MultiBody
    getMultiBody()
    Access the MultiBody that contains this link.
    MultiBodyLink
    getParentLink()
    Determine the parent of this link.
    int
    index()
    Determine the index of this link in its MultiBody.
    com.jme3.math.Vector3f
    inertia(com.jme3.math.Vector3f storeResult)
    Determine the rotational inertia of this link.
    boolean
    isCollisionWithParent()
    Test whether collisions with the immediate parent link are enabled.
    MultiBodyLink
    jmeClone()
    Create a shallow clone for the JME cloner.
    float
    jointPosition(int dofIndex)
    Determine the position of the indexed DOF.
    float
    jointTorque(int dofIndex)
    Determine the torque applied to the indexed DOF using addJointTorque(int, float), which is zeroed after each simulation step.
    MultiBodyJointType
    jointType()
    Determine the type of joint between this link and its parent.
    float
    jointVelocity(int dofIndex)
    Determine the velocity of the indexed DOF.
    com.jme3.math.Vector3f
    location(com.jme3.math.Vector3f storeResult)
    Determine the location of this link's center of mass.
    float
    mass()
    Determine the mass of this link.
    com.jme3.math.Quaternion
    orientation(com.jme3.math.Quaternion storeResult)
    Determine the orientation of the link relative to its parent when Q=0.
    com.jme3.math.Vector3f
    parent2Link(com.jme3.math.Vector3f storeResult)
    Determine the offset of the link's center relative to its parent's center for a planar joint.
    com.jme3.math.Vector3f
    parent2Pivot(com.jme3.math.Vector3f storeResult)
    Determine the offset from the parent's center to the pivot for a non-planar joint.
    com.jme3.math.Vector3f
    pivot2Link(com.jme3.math.Vector3f storeResult)
    Determine the offset from the pivot to this link's center for a non-planar joint.
    void
    read(com.jme3.export.JmeImporter importer)
    De-serialize this object from the specified importer, for example when loading from a J3O file.
    void
    setJointPosition(int dofIndex, float position)
    Alter the position of the indexed DOF.
    void
    setJointVelocity(int dofIndex, float velocity)
    Alter the velocity of the indexed DOF.
    com.jme3.math.Transform
    worldTransform(com.jme3.math.Transform storeResult)
    Determine the transform of this link.
    void
    write(com.jme3.export.JmeExporter exporter)
    Serialize this object to the specified exporter, for example when saving to a J3O file.

    Methods inherited from class com.jme3.bullet.NativePhysicsObject

    compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeId, setNativeIdNotTracked, toString, unassignNativeObject

    Methods inherited from class java.lang.Object

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

  • Field Details

    • logger

      public static final Logger logger
      message logger for this class

  • Constructor Details

    • MultiBodyLink

      protected MultiBodyLink()
      No-argument constructor needed by SavableClassUtil.

  • Method Details

    • addCollider

      public MultiBodyCollider addCollider(CollisionShape shape)
      Add a collider for this link.
      Parameters:
      shape - (not null, alias created)
      Returns:
      a new collider

    • addConstraintForce

      public void addConstraintForce(com.jme3.math.Vector3f force)
      Add an external force to this link.
      Parameters:
      force - the force to add (in physics-space coordinates, not null, unaffected)

    • addConstraintTorque

      public void addConstraintTorque(com.jme3.math.Vector3f torque)
      Add an external torque to this link.
      Parameters:
      torque - the torque to add (in physics-space coordinates, not null, unaffected)

    • addForce

      public void addForce(com.jme3.math.Vector3f force)
      Add an external force to this link.
      Parameters:
      force - the force to add (in physics-space coordinates, not null, unaffected)

    • addJointTorque

      public void addJointTorque(int dofIndex, float torque)
      Add an external torque to this link's joint.
      Parameters:
      dofIndex - which degree of freedom (≥0, <numDofs)
      torque - the torque to add

    • addTorque

      public void addTorque(com.jme3.math.Vector3f torque)
      Add an external torque to this link.
      Parameters:
      torque - the torque to add (in physics-space coordinates, not null, unaffected)

    • appliedForce

      public com.jme3.math.Vector3f appliedForce(com.jme3.math.Vector3f storeResult)
      Determine the net applied force on this link.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the force vector (in physics-space coordinates, either storeResult or a new vector, not null)

    • appliedTorque

      public com.jme3.math.Vector3f appliedTorque(com.jme3.math.Vector3f storeResult)
      Determine the net applied torque on this link.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the torque vector (in physics-space coordinates, either storeResult or a new vector, not null)

    • axis

      public com.jme3.math.Vector3f axis(com.jme3.math.Vector3f storeResult)
      Determine the direction of the joint's axis for a planar, prismatic, or revolute joint.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the direction (a unit vector, either storeResult or a new vector)

    • constraintForce

      public com.jme3.math.Vector3f constraintForce(com.jme3.math.Vector3f storeResult)
      Determine the net constraint force on this link.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the force vector (in physics-space coordinates, either storeResult or a new vector, not null)

    • constraintTorque

      public com.jme3.math.Vector3f constraintTorque(com.jme3.math.Vector3f storeResult)
      Determine the net constraint torque on this link.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the torque vector (in physics-space coordinates, either storeResult or a new vector, not null)

    • countDofs

      public int countDofs()
      Count the degrees of freedom in the joint.
      Returns:
      the count (≥0)

    • countPositionVariables

      public int countPositionVariables()
      Count the position variables in the joint.
      Returns:
      the count (≥0)

    • getCollider

      public MultiBodyCollider getCollider()
      Access the collider for this link.
      Returns:
      the pre-existing instance, or null if none

    • getMultiBody

      public MultiBody getMultiBody()
      Access the MultiBody that contains this link.
      Returns:
      the pre-existing instance (not null)

    • getParentLink

      public MultiBodyLink getParentLink()
      Determine the parent of this link.
      Returns:
      the pre-existing instance, or null if this link's parent is the base

    • index

      public int index()
      Determine the index of this link in its MultiBody.
      Returns:
      the index (≥0)

    • inertia

      public com.jme3.math.Vector3f inertia(com.jme3.math.Vector3f storeResult)
      Determine the rotational inertia of this link.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the principal (diagonal) components of the inertia tensor (in the link's local coordinates, either storeResult or a new vector, not null)

    • isCollisionWithParent

      public boolean isCollisionWithParent()
      Test whether collisions with the immediate parent link are enabled.
      Returns:
      true if collisions are enabled, otherwise false

    • jointPosition

      public float jointPosition(int dofIndex)
      Determine the position of the indexed DOF.
      Parameters:
      dofIndex - which degree of freedom (≥0, <numDofs)
      Returns:
      the position

    • jointTorque

      public float jointTorque(int dofIndex)
      Determine the torque applied to the indexed DOF using addJointTorque(int, float), which is zeroed after each simulation step.
      Parameters:
      dofIndex - which degree of freedom (≥0, <numDofs)
      Returns:
      the torque

    • jointType

      public MultiBodyJointType jointType()
      Determine the type of joint between this link and its parent.
      Returns:
      an enum value (not null)

    • jointVelocity

      public float jointVelocity(int dofIndex)
      Determine the velocity of the indexed DOF.
      Parameters:
      dofIndex - which degree of freedom (≥0, <numDofs)
      Returns:
      the velocity

    • location

      public com.jme3.math.Vector3f location(com.jme3.math.Vector3f storeResult)
      Determine the location of this link's center of mass.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the location vector (in physics-space coordinates, either storeResult or a new vector, not null)

    • mass

      public float mass()
      Determine the mass of this link.
      Returns:
      the mass (in physics-space units, >0)

    • orientation

      public com.jme3.math.Quaternion orientation(com.jme3.math.Quaternion storeResult)
      Determine the orientation of the link relative to its parent when Q=0.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the orientation (either storeResult or a new Quaternion)

    • parent2Link

      public com.jme3.math.Vector3f parent2Link(com.jme3.math.Vector3f storeResult)
      Determine the offset of the link's center relative to its parent's center for a planar joint.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the offset (in this link's coordinate system, either storeResult or a new vector)

    • parent2Pivot

      public com.jme3.math.Vector3f parent2Pivot(com.jme3.math.Vector3f storeResult)
      Determine the offset from the parent's center to the pivot for a non-planar joint.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the offset (in the parent's coordinate system, either storeResult or a new vector)

    • pivot2Link

      public com.jme3.math.Vector3f pivot2Link(com.jme3.math.Vector3f storeResult)
      Determine the offset from the pivot to this link's center for a non-planar joint.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the offset (in this link's coordinate system, either storeResult or a new vector)

    • setJointPosition

      public void setJointPosition(int dofIndex, float position)
      Alter the position of the indexed DOF.
      Parameters:
      dofIndex - which degree of freedom (≥0, <numDofs)
      position - the desired position

    • setJointVelocity

      public void setJointVelocity(int dofIndex, float velocity)
      Alter the velocity of the indexed DOF.
      Parameters:
      dofIndex - which degree of freedom (≥0, <numDofs)
      velocity - the desired velocity

    • worldTransform

      public com.jme3.math.Transform worldTransform(com.jme3.math.Transform storeResult)
      Determine the transform of this link. Assumes the physics simulation has been stepped.
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the Transform (either storeResult or a new instance, not null)

    • cloneFields

      public void cloneFields(com.jme3.util.clone.Cloner cloner, Object original)
      Callback from Cloner to convert this shallow-cloned object into a deep-cloned one, using the specified Cloner and original to resolve copied fields.
      Specified by:
      cloneFields in interface com.jme3.util.clone.JmeCloneable
      Parameters:
      cloner - the Cloner that's cloning this object (not null)
      original - the instance from which this object was shallow-cloned (unused)

    • jmeClone

      public MultiBodyLink jmeClone()
      Create a shallow clone for the JME cloner. Note that the cloned MultiBody won't be added to any PhysicsSpace, even if the original was.
      Specified by:
      jmeClone in interface com.jme3.util.clone.JmeCloneable
      Returns:
      a new instance

    • read

      public void read(com.jme3.export.JmeImporter importer) throws IOException
      De-serialize this object from the specified importer, for example when loading from a J3O file.
      Specified by:
      read in interface com.jme3.export.Savable
      Parameters:
      importer - (not null)
      Throws:
      IOException - from the importer

    • write

      public void write(com.jme3.export.JmeExporter exporter) throws IOException
      Serialize this object to the specified exporter, for example when saving to a J3O file.
      Specified by:
      write in interface com.jme3.export.Savable
      Parameters:
      exporter - (not null)
      Throws:
      IOException - from the exporter