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

Class Ragdoll

java.lang.Object
com.github.stephengold.joltjni.JoltPhysicsObject
com.github.stephengold.joltjni.NonCopyable
com.github.stephengold.joltjni.Ragdoll
All Implemented Interfaces:
ConstJoltPhysicsObject, RefTarget, AutoCloseable, Comparable<JoltPhysicsObject>
public class Ragdoll extends NonCopyable implements RefTarget
Runtime information to simulate a ragdoll composed of bodies connected by constraints.

  • Method Details

    • addToPhysicsSystem

      public void addToPhysicsSystem(EActivation activation)
      Add bodies and constraints to the physics system and optionally activate the bodies.
      Parameters:
      activation - whether to activate bodies (not null)

    • driveToPoseUsingKinematics

      public void driveToPoseUsingKinematics(SkeletonPose pose, float time)
      Drive the ragdoll to the specified pose by setting velocities.
      Parameters:
      pose - the desired pose
      time - time to achieve the pose (in seconds)

    • driveToPoseUsingKinematics

      public void driveToPoseUsingKinematics(SkeletonPose pose, float time, boolean lockBodies)
      Drive the ragdoll to the specified pose by setting velocities.
      Parameters:
      pose - the desired pose
      time - time to achieve the pose (in seconds)
      lockBodies - (default=true)

    • driveToPoseUsingMotors

      public void driveToPoseUsingMotors(SkeletonPose pose)
      Drive the ragdoll to the specified pose using motors.
      Parameters:
      pose - the desired pose (not null, unaffected)

    • getBodyCount

      public int getBodyCount()
      Count how many bodies are in the ragdoll, which is unaffected
      Returns:
      the count (≥0)

    • getBodyIds

      public int[] getBodyIds()
      Enumerate all bodies in the ragdoll, which is unaffected. (native function: GetBodyIDs)
      Returns:
      a new array of body IDs

    • getConstraintCount

      public int getConstraintCount()
      Count how many constraints are in the ragdoll, which is unaffected.
      Returns:
      the count (≥0)

    • getPose

      public void getPose(RVec3 storeRootOffset, Mat44Array storeJointMatrices)
      Copy the low-level pose using a locking body interface.
      Parameters:
      storeRootOffset - storage for the root offset (not null, modified)
      storeJointMatrices - storage for the joint matrices (not null, modified)

    • getPose

      public void getPose(RVec3 storeRootOffset, Mat44Array storeJointMatrices, boolean lockBodies)
      Copy the low-level pose.
      Parameters:
      storeRootOffset - storage for the root offset (not null, modified)
      storeJointMatrices - storage for the joint matrices (not null, modified)
      lockBodies - true → use the locking body interface, false → use the non-locking body interface (default=true)

    • getPose

      public void getPose(SkeletonPose storePose)
      Copy the ragdoll's pose using the locking body interface.
      Parameters:
      storePose - storage for the pose (not null, modified)

    • getPose

      public void getPose(SkeletonPose storePose, boolean lockBodies)
      Copy the ragdoll's pose.
      Parameters:
      storePose - storage for the pose (not null, modified)
      lockBodies - true→use the locking body interface, false→use the non-locking body interface

    • getRootTransform

      public void getRootTransform(RVec3 storeLocation, Quat storeOrientation)
      Copy the transform of the ragdoll's root, using the locking body interface. The ragdoll is unaffected.
      Parameters:
      storeLocation - storage for the root location (not null, modified)
      storeOrientation - storage for the root orientation (not null, modified)

    • getRootTransform

      public void getRootTransform(RVec3 storeLocation, Quat storeOrientation, boolean lockBodies)
      Copy the transform of the ragdoll's root. The ragdoll is unaffected.
      Parameters:
      storeLocation - storage for the root location (not null, modified)
      storeOrientation - storage for the root orientation (not null, modified)
      lockBodies - true → use the locking body interface, false → use the non-locking body interface (default=true)

    • removeFromPhysicsSystem

      public void removeFromPhysicsSystem()
      Remove bodies and constraints from the physics system.

    • setPose

      public void setPose(SkeletonPose pose)
      Alter the ragdoll's pose using the locking body interface.
      Parameters:
      pose - the desired pose (not null, unaffected)

    • setPose

      public void setPose(SkeletonPose pose, boolean lockBodies)
      Alter the ragdoll's pose.
      Parameters:
      pose - the desired pose (not null, unaffected)
      lockBodies - true→use the locking body interface, false→use the non-locking body interface

    • getRefCount

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

    • setEmbedded

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

    • toRef

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