Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class PathConstraint

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.PathConstraint

All Implemented Interfaces:

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

public class PathConstraint
extends TwoBodyConstraint

A TwoBodyConstraint that constrains motion to a path.

Method Summary

Modifier and Type	Method	Description
float	getMaxFrictionForce()	Return the maximum friction force when not driven by a motor.
ConstPathConstraintPath	getPath()	Access the path.
float	getPathFraction()	Return how far the body is along the path.
MotorSettings	getPositionMotorSettings()	Access the settings of the position motor.
EMotorState	getPositionMotorState()	Return the state of the position motor.
float	getTargetPathFraction()	Return how far the body is along the path.
float	getTargetVelocity()	Return the target speed.
float	getTotalLambdaMotor()	Return the total lambda of the motor.
float	getTotalLambdaPositionLimits()	Return the total lambda of the limits.
Vec3	getTotalLambdaRotation()	Copy the total lambda of rotation.
void	setMaxFrictionForce(float force)	Alter the maximum friction force when not driven by a motor.
void	setPath(PathConstraintPath path, float amount)	Replace the path.
void	setPositionMotorState(EMotorState state)	Alter the state of the position motor.
void	setTargetPathFraction(float amount)	Alter how far the body is along the path.
void	setTargetVelocity(float speed)	Alter the target speed.

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

getMaxFrictionForce

public float getMaxFrictionForce()

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

Returns:

the force (in Newtons)

getPath

public ConstPathConstraintPath getPath()

Access the path.

Returns:

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

getPathFraction

public float getPathFraction()

Return how far the body is along the path. The constraint is unaffected.

Returns:

the amount

getPositionMotorSettings

public MotorSettings getPositionMotorSettings()

Access the settings of the position motor.

Returns:

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

getPositionMotorState

public EMotorState getPositionMotorState()

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

Returns:

an enum value (not null)

getTargetPathFraction

public float getTargetPathFraction()

Return how far the body is along the path. The constraint is unaffected.

Returns:

the amount (≥0)

getTargetVelocity

public float getTargetVelocity()

Return the target speed. The constraint is unaffected.

Returns:

the target speed (in meters per second)

getTotalLambdaMotor

public float getTotalLambdaMotor()

Return the total lambda of the motor. The constraint is unaffected.

Returns:

the total lambda

getTotalLambdaPositionLimits

public float getTotalLambdaPositionLimits()

Return the total lambda of the limits. The constraint is unaffected.

Returns:

the total lambda

getTotalLambdaRotation

public Vec3 getTotalLambdaRotation()

Copy the total lambda of rotation. The constraint is unaffected.

Returns:

a new vector

setMaxFrictionForce

public void setMaxFrictionForce(float force)

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

Parameters:

force - the desired force (in Newtons)

setPath

public void setPath(PathConstraintPath path,
 float amount)

Replace the path.

Parameters:

path - the desired path (not null)

amount - how far the body is along the new path

setPositionMotorState

public void setPositionMotorState(EMotorState state)

Alter the state of the position motor.

Parameters:

state - the desired state (not null)

setTargetPathFraction

public void setTargetPathFraction(float amount)

Alter how far the body is along the path.

Parameters:

amount - the desired amount (≥0)

setTargetVelocity

public void setTargetVelocity(float speed)

Alter the target speed.

Parameters:

speed - the desired speed