Package com.jme3.bullet.joints.motors

Class RotationalLimitMotor

java.lang.Object
com.jme3.bullet.NativePhysicsObject
com.jme3.bullet.joints.motors.RotationalLimitMotor
All Implemented Interfaces:
Comparable<NativePhysicsObject>
public class RotationalLimitMotor extends NativePhysicsObject
A motor based on Bullet's btRotationalLimitMotor, used to control the rotation of a SixDofJoint.

  • 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
    Constructor
    Description
    RotationalLimitMotor(long nativeId)
    Instantiate a motor.

  • Method Summary

    Modifier and Type
    Method
    Description
    float
    getAccumulatedImpulse()
    Return the accumulated impulse (native field: m_accumulatedImpulse).
    float
    getAngle()
    Return this motor's current rotation angle (native field: m_currentPosition).
    float
    getDamping()
    Return this motor's damping (native field: m_damping).
    float
    getERP()
    Return this motor's error-reduction parameter at the limits (native field: m_stopERP).
    float
    getLimitSoftness()
    Return this motor's limit softness (native field: m_limitSoftness).
    float
    getLowerLimit()
    Return this motor's constraint lower limit (native field: m_loLimit).
    float
    getMaxLimitForce()
    Return the limit maximum force (native field: m_maxLimitForce).
    float
    getMaxMotorForce()
    Return this motor's maximum force for normal conditions (native field: m_maxMotorForce).
    float
    getNormalCFM()
    Return this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).
    float
    getRestitution()
    Return this motor's restitution at the limits (native field: m_bounce).
    float
    getStopCFM()
    Return this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).
    float
    getTargetVelocity()
    Return this motor's target velocity (native field: m_targetVelocity).
    float
    getUpperLimit()
    Return this motor's constraint upper limit (native field: m_hiLimit).
    boolean
    isEnableMotor()
    Test whether this motor is enabled (native field: m_enableMotor).
    void
    setAccumulatedImpulse(float accumulatedImpulse)
    Alter the accumulated impulse (native field: m_accumulatedImpulse).
    void
    setDamping(float damping)
    Alter this motor's damping (native field: m_damping).
    void
    setEnableMotor(boolean enableMotor)
    Enable or disable this motor (native field: m_enableMotor).
    void
    setERP(float erp)
    Alter this motor's error-reduction parameter at the limits (native field: m_stopERP).
    void
    setLimitSoftness(float limitSoftness)
    Alter this motor's limit softness (native field: m_limitSoftness).
    void
    setLowerLimit(float lowerLimit)
    Alter this motor's constraint lower limit (native field: m_loLimit).
    void
    setMaxLimitForce(float maxLimitForce)
    Alter the limit maximum force (native field: m_maxLimitForce).
    void
    setMaxMotorForce(float maxMotorForce)
    Alter this motor's maximum force (native field: m_maxMotorForce).
    void
    setNormalCFM(float cfm)
    Alter this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).
    void
    setRestitution(float restitution)
    Alter this motor's restitution at the limits (native field: m_bounce).
    void
    setStopCFM(float cfm)
    Alter this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).
    void
    setTargetVelocity(float targetVelocity)
    Alter this motor's target velocity (native field: m_targetVelocity).
    void
    setUpperLimit(float upperLimit)
    Alter this motor's constraint upper limit (native field: m_hiLimit).

    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

    • RotationalLimitMotor

      public RotationalLimitMotor(long nativeId)
      Instantiate a motor. Used internally.
      Parameters:
      nativeId - the ID of the pre-existing btRotationalLimitMotor (not zero)

  • Method Details

    • getAccumulatedImpulse

      public float getAccumulatedImpulse()
      Return the accumulated impulse (native field: m_accumulatedImpulse).
      Returns:
      the total impulse

    • getAngle

      public float getAngle()
      Return this motor's current rotation angle (native field: m_currentPosition).
      Returns:
      the angle (in radians)

    • getDamping

      public float getDamping()
      Return this motor's damping (native field: m_damping).
      Returns:
      the viscous damping ratio (0→no damping, 1→critically damped)

    • getERP

      public float getERP()
      Return this motor's error-reduction parameter at the limits (native field: m_stopERP).
      Returns:
      the error-reduction parameter (≥0)

    • getLimitSoftness

      public float getLimitSoftness()
      Return this motor's limit softness (native field: m_limitSoftness).
      Returns:
      the limit softness (or relaxation factor)

    • getLowerLimit

      public float getLowerLimit()
      Return this motor's constraint lower limit (native field: m_loLimit).
      Returns:
      the limit value

    • getMaxLimitForce

      public float getMaxLimitForce()
      Return the limit maximum force (native field: m_maxLimitForce).
      Returns:
      the maximum force on the limit (default=300)

    • getMaxMotorForce

      public float getMaxMotorForce()
      Return this motor's maximum force for normal conditions (native field: m_maxMotorForce).
      Returns:
      the maximum force

    • getNormalCFM

      public float getNormalCFM()
      Return this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).
      Returns:
      the mixing parameter (≥0)

    • getRestitution

      public float getRestitution()
      Return this motor's restitution at the limits (native field: m_bounce).
      Returns:
      the restitution (bounce) factor

    • getStopCFM

      public float getStopCFM()
      Return this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).
      Returns:
      the mixing parameter (≥0)

    • getTargetVelocity

      public float getTargetVelocity()
      Return this motor's target velocity (native field: m_targetVelocity).
      Returns:
      the target velocity (in radians per second)

    • getUpperLimit

      public float getUpperLimit()
      Return this motor's constraint upper limit (native field: m_hiLimit).
      Returns:
      the limit value

    • isEnableMotor

      public boolean isEnableMotor()
      Test whether this motor is enabled (native field: m_enableMotor).
      Returns:
      true if enabled, otherwise false

    • setAccumulatedImpulse

      public void setAccumulatedImpulse(float accumulatedImpulse)
      Alter the accumulated impulse (native field: m_accumulatedImpulse).
      Parameters:
      accumulatedImpulse - the desired total (default=0)

    • setDamping

      public void setDamping(float damping)
      Alter this motor's damping (native field: m_damping).
      Parameters:
      damping - the desired viscous damping ratio (0→no damping, 1→critically damped, default=1)

    • setEnableMotor

      public void setEnableMotor(boolean enableMotor)
      Enable or disable this motor (native field: m_enableMotor).
      Parameters:
      enableMotor - true→enable, false→disable (default=false)

    • setERP

      public void setERP(float erp)
      Alter this motor's error-reduction parameter at the limits (native field: m_stopERP).
      Parameters:
      erp - the desired error tolerance at limits (≥0, default=0.2)

    • setLimitSoftness

      public void setLimitSoftness(float limitSoftness)
      Alter this motor's limit softness (native field: m_limitSoftness).
      Parameters:
      limitSoftness - the desired limit softness (or relaxation factor) (default=0.5)

    • setLowerLimit

      public void setLowerLimit(float lowerLimit)
      Alter this motor's constraint lower limit (native field: m_loLimit).
      Parameters:
      lowerLimit - the desired limit value (default=1)

    • setMaxLimitForce

      public void setMaxLimitForce(float maxLimitForce)
      Alter the limit maximum force (native field: m_maxLimitForce).
      Parameters:
      maxLimitForce - the desired maximum force on the limit (default=300)

    • setMaxMotorForce

      public void setMaxMotorForce(float maxMotorForce)
      Alter this motor's maximum force (native field: m_maxMotorForce).
      Parameters:
      maxMotorForce - the desired maximum force (default=6)

    • setNormalCFM

      public void setNormalCFM(float cfm)
      Alter this motor's constraint-force mixing parameter for normal conditions (native field: m_normalCFM).
      Parameters:
      cfm - the desired mixing parameter (≥0, default=0)

    • setRestitution

      public void setRestitution(float restitution)
      Alter this motor's restitution at the limits (native field: m_bounce).
      Parameters:
      restitution - the desired restitution (bounce) factor (default=0)

    • setStopCFM

      public void setStopCFM(float cfm)
      Alter this motor's constraint-force mixing parameter at the limits (native field: m_stopCFM).
      Parameters:
      cfm - the desired mixing parameter (≥0, default=0)

    • setTargetVelocity

      public void setTargetVelocity(float targetVelocity)
      Alter this motor's target velocity (native field: m_targetVelocity).
      Parameters:
      targetVelocity - the desired target velocity (in radians per second, default=0)

    • setUpperLimit

      public void setUpperLimit(float upperLimit)
      Alter this motor's constraint upper limit (native field: m_hiLimit).
      Parameters:
      upperLimit - the desired limit value (default=-1)