Package com.jme3.bullet.joints.motors

Class TranslationalLimitMotor

java.lang.Object
com.jme3.bullet.NativePhysicsObject
com.jme3.bullet.joints.motors.TranslationalLimitMotor
All Implemented Interfaces:
Comparable<NativePhysicsObject>
public class TranslationalLimitMotor extends NativePhysicsObject
A motor based on Bullet's btTranslationalLimitMotor, used to control the translation 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
    TranslationalLimitMotor(long nativeId)
    Instantiate a motor.

  • Method Summary

    Modifier and Type
    Method
    Description
    com.jme3.math.Vector3f
    getAccumulatedImpulse(com.jme3.math.Vector3f storeResult)
    Copy the accumulated impulse (native field: m_accumulatedImpulse).
    float
    getDamping()
    Return this motor's damping (native field: m_damping).
    com.jme3.math.Vector3f
    getERP(com.jme3.math.Vector3f storeResult)
    Copy this motor's error-reduction parameters at the limits (native field: m_stopERP).
    float
    getLimitSoftness()
    Return this motor's limit softness (native field: m_limitSoftness).
    com.jme3.math.Vector3f
    getLowerLimit(com.jme3.math.Vector3f storeResult)
    Copy this motor's constraint lower limits (native field: m_lowerLimit).
    com.jme3.math.Vector3f
    getMaxMotorForce(com.jme3.math.Vector3f storeResult)
    Copy this motor's maximum motor forces for normal conditions (native field: m_maxMotorForce).
    com.jme3.math.Vector3f
    getNormalCFM(com.jme3.math.Vector3f storeResult)
    Copy this motor's constraint-force mixing parameters for normal conditions (native field: m_normalCFM).
    com.jme3.math.Vector3f
    getOffset(com.jme3.math.Vector3f storeResult)
    Return the offset of the constraint frames (native field: m_currentLinearDiff).
    float
    getRestitution()
    Return this motor's restitution at the limits (native field: m_restitution).
    com.jme3.math.Vector3f
    getStopCFM(com.jme3.math.Vector3f storeResult)
    Copy this motor's constraint-force mixing parameters at the limits (native field: m_stopCFM).
    com.jme3.math.Vector3f
    getTargetVelocity(com.jme3.math.Vector3f storeResult)
    Copy this motor's target velocity (native field: m_targetVelocity).
    com.jme3.math.Vector3f
    getUpperLimit(com.jme3.math.Vector3f storeResult)
    Copy this motor's constraint upper limits (native field: m_upperLimit).
    boolean
    isEnabled(int axisIndex)
    Test whether the indexed axis is enabled (native field: m_enableMotor).
    void
    setAccumulatedImpulse(com.jme3.math.Vector3f accumulatedImpulse)
    Alter the accumulated impulse (native field: m_accumulatedImpulse).
    void
    setDamping(float damping)
    Alter this motor's damping (native field: m_damping).
    void
    setEnabled(int axisIndex, boolean enableMotor)
    Enable or disable the indexed axis (native field: m_enableMotor).
    void
    setERP(com.jme3.math.Vector3f erp)
    Alter this motor's error-reduction parameters at the limits (native field: m_stopERP).
    void
    setLimitSoftness(float limitSoftness)
    Alter the limit softness (native field: m_limitSoftness).
    void
    setLowerLimit(com.jme3.math.Vector3f lowerLimit)
    Alter this motor's constraint lower limits (native field: m_lowerLimit).
    void
    setMaxMotorForce(com.jme3.math.Vector3f maxForce)
    Alter this motor's maximum forces (native field: m_maxMotorForce).
    void
    setNormalCFM(com.jme3.math.Vector3f cfm)
    Alter this motor's constraint-force mixing parameters for normal conditions (native field: m_normalCFM).
    void
    setRestitution(float restitution)
    Alter this motor's restitution at the limits (native field: m_restitution).
    void
    setStopCFM(com.jme3.math.Vector3f cfm)
    Alter this motor's constraint-force mixing parameters at the limits (native field: m_stopCFM).
    void
    setTargetVelocity(com.jme3.math.Vector3f velocity)
    Alter this motor's target velocity (native field: m_targetVelocity).
    void
    setUpperLimit(com.jme3.math.Vector3f upperLimit)
    Alter this motor's constraint upper limits (native field: m_upperLimit).

    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

    • TranslationalLimitMotor

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

  • Method Details

    • getAccumulatedImpulse

      public com.jme3.math.Vector3f getAccumulatedImpulse(com.jme3.math.Vector3f storeResult)
      Copy the accumulated impulse (native field: m_accumulatedImpulse).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      a new vector (not null)

    • 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 com.jme3.math.Vector3f getERP(com.jme3.math.Vector3f storeResult)
      Copy this motor's error-reduction parameters at the limits (native field: m_stopERP).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the error-reduction parameter for each axis (either storeResult or a new instance, not null)

    • getLimitSoftness

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

    • getLowerLimit

      public com.jme3.math.Vector3f getLowerLimit(com.jme3.math.Vector3f storeResult)
      Copy this motor's constraint lower limits (native field: m_lowerLimit).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the lower limit for each axis (either storeResult or a new instance)

    • getMaxMotorForce

      public com.jme3.math.Vector3f getMaxMotorForce(com.jme3.math.Vector3f storeResult)
      Copy this motor's maximum motor forces for normal conditions (native field: m_maxMotorForce).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the maximum force for each axis (either storeResult or a new instance)

    • getNormalCFM

      public com.jme3.math.Vector3f getNormalCFM(com.jme3.math.Vector3f storeResult)
      Copy this motor's constraint-force mixing parameters for normal conditions (native field: m_normalCFM).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the mixing parameter for each axis (either storeResult or a new instance)

    • getOffset

      public com.jme3.math.Vector3f getOffset(com.jme3.math.Vector3f storeResult)
      Return the offset of the constraint frames (native field: m_currentLinearDiff).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the offset (either storeResult or a new instance)

    • getRestitution

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

    • getStopCFM

      public com.jme3.math.Vector3f getStopCFM(com.jme3.math.Vector3f storeResult)
      Copy this motor's constraint-force mixing parameters at the limits (native field: m_stopCFM).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the mixing parameter for each axis (either storeResult or a new instance)

    • getTargetVelocity

      public com.jme3.math.Vector3f getTargetVelocity(com.jme3.math.Vector3f storeResult)
      Copy this motor's target velocity (native field: m_targetVelocity).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the target velocity vector (either storeResult or a new instance)

    • getUpperLimit

      public com.jme3.math.Vector3f getUpperLimit(com.jme3.math.Vector3f storeResult)
      Copy this motor's constraint upper limits (native field: m_upperLimit).
      Parameters:
      storeResult - storage for the result (modified if not null)
      Returns:
      the upper limit for each axis (either storeResult or a new instance)

    • isEnabled

      public boolean isEnabled(int axisIndex)
      Test whether the indexed axis is enabled (native field: m_enableMotor).
      Parameters:
      axisIndex - which axis: 0→X, 1→Y, 2→Z
      Returns:
      true if enabled, otherwise false

    • setAccumulatedImpulse

      public void setAccumulatedImpulse(com.jme3.math.Vector3f accumulatedImpulse)
      Alter the accumulated impulse (native field: m_accumulatedImpulse).
      Parameters:
      accumulatedImpulse - the desired vector (not null, unaffected, default=(0,0,0))

    • 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)

    • setEnabled

      public void setEnabled(int axisIndex, boolean enableMotor)
      Enable or disable the indexed axis (native field: m_enableMotor).
      Parameters:
      axisIndex - which axis: 0→X, 1→Y, 2→Z
      enableMotor - true→enable, false→disable (default=false)

    • setERP

      public void setERP(com.jme3.math.Vector3f erp)
      Alter this motor's error-reduction parameters at the limits (native field: m_stopERP).
      Parameters:
      erp - the desired error-reduction parameter parameter for each axis (not null, unaffected, default=(0.2,0.2,0.2))

    • setLimitSoftness

      public void setLimitSoftness(float limitSoftness)
      Alter the limit softness (native field: m_limitSoftness).
      Parameters:
      limitSoftness - the desired limit softness (default=0.7)

    • setLowerLimit

      public void setLowerLimit(com.jme3.math.Vector3f lowerLimit)
      Alter this motor's constraint lower limits (native field: m_lowerLimit).
      Parameters:
      lowerLimit - the desired limit value for each axis (unaffected, not null, default=(0,0,0))

    • setMaxMotorForce

      public void setMaxMotorForce(com.jme3.math.Vector3f maxForce)
      Alter this motor's maximum forces (native field: m_maxMotorForce).
      Parameters:
      maxForce - the desired maximum force for each axis (not null, unaffected, default=(0,0,0))

    • setNormalCFM

      public void setNormalCFM(com.jme3.math.Vector3f cfm)
      Alter this motor's constraint-force mixing parameters for normal conditions (native field: m_normalCFM).
      Parameters:
      cfm - the desired mixing parameter for each axis (not null, unaffected, default=(0,0,0))

    • setRestitution

      public void setRestitution(float restitution)
      Alter this motor's restitution at the limits (native field: m_restitution).
      Parameters:
      restitution - the desired restitution (bounce) factor (default=0.5)

    • setStopCFM

      public void setStopCFM(com.jme3.math.Vector3f cfm)
      Alter this motor's constraint-force mixing parameters at the limits (native field: m_stopCFM).
      Parameters:
      cfm - the desired mixing parameter for each axis (not null, unaffected, default=(0,0,0))

    • setTargetVelocity

      public void setTargetVelocity(com.jme3.math.Vector3f velocity)
      Alter this motor's target velocity (native field: m_targetVelocity).
      Parameters:
      velocity - the desired velocity vector (not null, unaffected, default=(0,0,0))

    • setUpperLimit

      public void setUpperLimit(com.jme3.math.Vector3f upperLimit)
      Alter this motor's constraint upper limits (native field: m_upperLimit).
      Parameters:
      upperLimit - the desired limit value for each axis (unaffected, not null, default=(0,0,0))