Module com.github.stephengold.joltjni
Package com.github.stephengold.joltjni

Class Constraint

java.lang.Object
com.github.stephengold.joltjni.JoltPhysicsObject
com.github.stephengold.joltjni.NonCopyable
com.github.stephengold.joltjni.Constraint
All Implemented Interfaces:
ConstConstraint, ConstJoltPhysicsObject, RefTarget, AutoCloseable, Comparable<JoltPhysicsObject>
Direct Known Subclasses:
TwoBodyConstraint, VehicleConstraint
public abstract class Constraint extends NonCopyable implements ConstConstraint, RefTarget
The abstract base class for physics constraints.

  • Method Details

    • notifyShapeChanged

      public void notifyShapeChanged(int bodyId, Vec3Arg deltaCom)
      Notify the constraint that the shape of the specified body has changed and its center of mass has shifted by deltaCom.
      Parameters:
      bodyId - the ID of the body that changed
      deltaCom - the offset of the shift (not null, unaffected)

    • restoreState

      public void restoreState(StateRecorder recorder)
      Restore the state of the constraint prior to replay.
      Parameters:
      recorder - to read state from (not null)

    • setConstraintPriority

      public void setConstraintPriority(int level)
      Alter the constraint's priority when solving.
      Parameters:
      level - the desired priority level

    • setEnabled

      public void setEnabled(boolean setting)
      Enable or disable the constraint.
      Parameters:
      setting - true to enable or false to disable

    • setNumPositionStepsOverride

      public void setNumPositionStepsOverride(int setting)
      Alter the override for the number of position iterations used in the solver.
      Parameters:
      setting - the number of iterations, or 0 to use the default in PhysicsSettings

    • setNumVelocityStepsOverride

      public void setNumVelocityStepsOverride(int setting)
      Alter the override for the number of velocity iterations used in the solver.
      Parameters:
      setting - the number of iterations, or 0 to use the default in PhysicsSettings

    • setVirtualAddressAsCoOwner

      protected final void setVirtualAddressAsCoOwner(long constraintVa)
      Assign a native object (assuming there's none already assigned) and designate the JVM object as a co-owner.
      Parameters:
      constraintVa - the virtual address of the native object to assign (not zero)

    • getConstraintPriority

      public int getConstraintPriority()
      Return the constraint's priority when solving. The constraint is unaffected.
      Specified by:
      getConstraintPriority in interface ConstConstraint
      Returns:
      the priority level

    • getConstraintSettings

      public ConstraintSettingsRef getConstraintSettings()
      Generate settings to reconstruct the constraint. The constraint is unaffected.
      Specified by:
      getConstraintSettings in interface ConstConstraint
      Returns:
      a new counted reference to a new settings object

    • getEnabled

      public boolean getEnabled()
      Test whether the constraint is enabled. The constraint is unaffected.
      Specified by:
      getEnabled in interface ConstConstraint
      Returns:
      true if enabled, otherwise false

    • getNumPositionStepsOverride

      public int getNumPositionStepsOverride()
      Return the override for the number of position iterations used in the solver. The constraint is unaffected.
      Specified by:
      getNumPositionStepsOverride in interface ConstConstraint
      Returns:
      the number of iterations, or 0 to use the default in PhysicsSettings

    • getNumVelocityStepsOverride

      public int getNumVelocityStepsOverride()
      Return the override for the number of velocity iterations used in the solver. The constraint is unaffected.
      Specified by:
      getNumVelocityStepsOverride in interface ConstConstraint
      Returns:
      the number of iterations, or 0 to use the default in PhysicsSettings

    • getSubType

      public EConstraintSubType getSubType()
      Return the constraint's subtype. The constraint is unaffected.
      Specified by:
      getSubType in interface ConstConstraint
      Returns:
      an enum value (not null)

    • getType

      public EConstraintType getType()
      Return the constraint's type. The constraint is unaffected.
      Specified by:
      getType in interface ConstConstraint
      Returns:
      an enum value (not null)

    • isActive

      public boolean isActive()
      Test whether the constraint is active. The constraint is unaffected.
      Specified by:
      isActive in interface ConstConstraint
      Returns:
      true if active, otherwise false

    • saveState

      public void saveState(StateRecorder recorder)
      Save the state of the constraint, for possible replay. The constraint is unaffected.
      Specified by:
      saveState in interface ConstConstraint
      Parameters:
      recorder - the recorder to write to (not null)

    • getRefCount

      public int getRefCount()
      Count the active references to the native Constraint. The constraint is unaffected.
      Specified by:
      getRefCount in interface RefTarget
      Returns:
      the count (≥0)

    • setEmbedded

      public void setEmbedded()
      Mark the native Constraint as embedded.
      Specified by:
      setEmbedded in interface RefTarget

    • toRef

      public Ref toRef()
      Create a counted reference to the native Constraint.
      Specified by:
      toRef in interface RefTarget
      Returns:
      a new JVM object with a new native object assigned