Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class RodBendTwist

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.RodBendTwist

All Implemented Interfaces:

ConstJoltPhysicsObject, ConstRodBendTwist, AutoCloseable, Comparable<JoltPhysicsObject>

public class RodBendTwist
extends JoltPhysicsObject
implements ConstRodBendTwist

Join 2 soft-body Cosserat rods with limited bending and twisting. (native type: SoftBodySharedSettings::RodBendTwist)

Constructor Summary

Constructors

Constructor	Description
RodBendTwist()	Instantiate a default constraint.
RodBendTwist(int rod0, int rod1)	Instantiate a constraint joining the specified rods with infinite stiffness.
RodBendTwist(int rod0, int rod1, float compliance)	Instantiate a constraint joining the specified rods with the specified stiffness.

Method Summary

Modifier and Type	Method	Description
float	getCompliance()	Return the inverse of the spring's stiffness.
Quat	getOmega0()	Return the Omega0 rotation of the constraint.
int	getRod(int indexInConstraint)	Return the rod at the specified end.
RodBendTwist	setCompliance(float compliance)	Alter the stiffness of the constraint.
RodBendTwist	setOmega0(QuatArg omega0)	Alter the Omega0 rotation of the constraint.
RodBendTwist	setRod(int indexInConstraint, int indexInMesh)	Assign the specified rod to the constraint.

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

close, compareTo, equals, getContainingObject, hasAssignedNativeObject, hashCode, 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.ConstJoltPhysicsObject

close, hasAssignedNativeObject, ownsNativeObject, targetVa

Constructor Details

RodBendTwist

public RodBendTwist()

Instantiate a default constraint.

RodBendTwist

public RodBendTwist(int rod0,
 int rod1)

Instantiate a constraint joining the specified rods with infinite stiffness.

Parameters:

rod0 - the index of the first rod (≥0)

rod1 - the index of the 2nd rod (≥0)

RodBendTwist

public RodBendTwist(int rod0,
 int rod1,
 float compliance)

Instantiate a constraint joining the specified rods with the specified stiffness.

Parameters:

rod0 - the index of the first rod (≥0)

rod1 - the index of the 2nd rod (≥0)

compliance - the inverse of the desired stiffness (default=0)

Method Details

setCompliance

public RodBendTwist setCompliance(float compliance)

Alter the stiffness of the constraint. (native attribute: mCompliance)

Parameters:

compliance - the inverse of the desired stiffness (default=0)

Returns:

the modified settings, for chaining

setOmega0

public RodBendTwist setOmega0(QuatArg omega0)

Alter the Omega0 rotation of the constraint. (native attribute: mOmega0)

Parameters:

omega0 - the desired rotation (not null, unaffected)

Returns:

the modified settings, for chaining

setRod

public RodBendTwist setRod(int indexInConstraint,
 int indexInMesh)

Assign the specified rod to the constraint. (native attribute: mRod)

Parameters:

indexInConstraint - which end of the constraint (0 or 1)

indexInMesh - the index of the rod to assign (≥0)

Returns:

the modified settings, for chaining

getCompliance

public float getCompliance()

Return the inverse of the spring's stiffness. The constraint is unaffected. (native attribute: mCompliance)

Specified by:

getCompliance in interface ConstRodBendTwist

Returns:

the compliance value

getOmega0

public Quat getOmega0()

Return the Omega0 rotation of the constraint. The constraint is unaffected. (native attribute: mOmega0)

Specified by:

getOmega0 in interface ConstRodBendTwist

Returns:

a new quaternion

getRod

public int getRod(int indexInConstraint)

Return the rod at the specified end. The constraint is unaffected. (native attribute: mRod)

Specified by:

getRod in interface ConstRodBendTwist

Parameters:

indexInConstraint - which end of the constraint (0 or 1)

Returns:

the index of the rod (≥0)