Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class HingeConstraint

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.NonCopyable

com.github.stephengold.joltjni.Constraint

com.github.stephengold.joltjni.TwoBodyConstraint

com.github.stephengold.joltjni.HingeConstraint

All Implemented Interfaces:

ConstConstraint, ConstJoltPhysicsObject, ConstTwoBodyConstraint, RefTarget, AutoCloseable, Comparable<JoltPhysicsObject>

public class HingeConstraint
extends TwoBodyConstraint

A TwoBodyConstraint that allows rotation only along one axis and disables translation, eliminating 5 degrees of freedom.

Method Summary

Modifier and Type	Method	Description
float	getCurrentAngle()	Return the current angle from rest orientation.
float	getLimitsMax()	Return the upper limit of rotation.
float	getLimitsMin()	Return the lower limit of rotation.
SpringSettings	getLimitsSpringSettings()	Access the spring settings.
float	getMaxFrictionTorque()	Return the maximum friction torque when not driven by a motor.
MotorSettings	getMotorSettings()	Access the motor settings.
EMotorState	getMotorState()	Return the state of the motor.
float	getTargetAngle()	Return the target angle of the motor.
float	getTargetAngularVelocity()	Return the target angular velocity of the motor.
boolean	hasLimits()	Test whether the constraint has limits.
void	setLimits(float min, float max)	Alter the limits.
void	setMaxFrictionTorque(float torque)	Alter the maximum friction torque when not driven by a motor.
void	setMotorState(EMotorState state)	Alter the state of the motor.
void	setTargetAngle(float angle)	Alter the target angle of the motor.
void	setTargetAngularVelocity(float omega)	Alter the target angular velocity of the motor.

Methods inherited from class com.github.stephengold.joltjni.TwoBodyConstraint

getBody1, getBody1PivotLocation, getBody2, getBody2PivotLocation, getConstraintToBody1Matrix, getConstraintToBody2Matrix, toRef

Methods inherited from class com.github.stephengold.joltjni.Constraint

getConstraintPriority, getConstraintSettings, getEnabled, getNumPositionStepsOverride, getNumVelocityStepsOverride, getRefCount, getSubType, getType, isActive, notifyShapeChanged, restoreState, saveState, setConstraintPriority, setEmbedded, setEnabled, setNumPositionStepsOverride, setNumVelocityStepsOverride, setVirtualAddressAsCoOwner

Methods inherited from class com.github.stephengold.joltjni.JoltPhysicsObject

close, compareTo, equals, getContainingObject, hasAssignedNativeObject, hashCode, isCleanerStarted, ownsNativeObject, setVirtualAddress, setVirtualAddress, startCleaner, targetVa, toString, va

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.lang.Comparable

compareTo

Methods inherited from interface com.github.stephengold.joltjni.readonly.ConstConstraint

getConstraintPriority, getConstraintSettings, getEnabled, getNumPositionStepsOverride, getNumVelocityStepsOverride, getSubType, getType, isActive, saveState

Methods inherited from interface com.github.stephengold.joltjni.readonly.ConstJoltPhysicsObject

close, hasAssignedNativeObject, ownsNativeObject, targetVa

Method Details

getCurrentAngle

public float getCurrentAngle()

Return the current angle from rest orientation. The constraint is unaffected.

Returns:

the angle (in radians)

getLimitsMax

public float getLimitsMax()

Return the upper limit of rotation. The constraint is unaffected.

Returns:

the upper limit (in radians)

getLimitsMin

public float getLimitsMin()

Return the lower limit of rotation. The constraint is unaffected.

Returns:

the lower limit (in radians)

getLimitsSpringSettings

public SpringSettings getLimitsSpringSettings()

Access the spring settings.

Returns:

a new JVM object with the pre-existing native object assigned

getMaxFrictionTorque

public float getMaxFrictionTorque()

Return the maximum friction torque when not driven by a motor. The constraint is unaffected.

Returns:

the torque (in Newton.meters)

getMotorSettings

public MotorSettings getMotorSettings()

Access the motor settings.

Returns:

a new JVM object with the pre-existing native object assigned

getMotorState

public EMotorState getMotorState()

Return the state of the motor. The constraint is unaffected.

Returns:

an enum value (not null)

getTargetAngle

public float getTargetAngle()

Return the target angle of the motor. The constraint is unaffected.

Returns:

the angle (in radians)

getTargetAngularVelocity

public float getTargetAngularVelocity()

Return the target angular velocity of the motor. The constraint is unaffected.

Returns:

the angular velocity (in radians per second)

hasLimits

public boolean hasLimits()

Test whether the constraint has limits. The constraint is unaffected.

Returns:

true if limited, otherwise false

setLimits

public void setLimits(float min,
 float max)

Alter the limits.

Parameters:

min - the desired lower limit (in radians)

max - the desired upper limit (in radians)

setMaxFrictionTorque

public void setMaxFrictionTorque(float torque)

Alter the maximum friction torque when not driven by a motor.

Parameters:

torque - the desired torque (in Newton.meters)

setMotorState

public void setMotorState(EMotorState state)

Alter the state of the motor.

Parameters:

state - the desired state (not null)

setTargetAngle

public void setTargetAngle(float angle)

Alter the target angle of the motor.

Parameters:

angle - the desired angle (in radians)

setTargetAngularVelocity

public void setTargetAngularVelocity(float omega)

Alter the target angular velocity of the motor.

Parameters:

omega - the desired angular velocity (in radians per second)