Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class RodStretchShear

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.RodStretchShear

All Implemented Interfaces:

ConstJoltPhysicsObject, ConstRodStretchShear, AutoCloseable, Comparable<JoltPhysicsObject>

public class RodStretchShear
extends JoltPhysicsObject
implements ConstRodStretchShear

Join 2 soft-body vertices with a discrete Cosserat rod. (native type: SoftBodySharedSettings::RodStretchShear)

Constructor Summary

Constructors

Constructor	Description
RodStretchShear()	Instantiate a default rod.
RodStretchShear(int vertex0, int vertex1)	Instantiate a rod joining the specified vertices with infinite stiffness.
RodStretchShear(int vertex0, int vertex1, float compliance)	Instantiate a rod joining the specified vertices with the specified stiffness.

Method Summary

Modifier and Type	Method	Description
Quat	getBishop()	Return the Bishop frame of the rod.
float	getCompliance()	Return the inverse of the spring's stiffness.
float	getInvMass()	Return the inverse mass of the rod.
float	getLength()	Return the length of the rod.
int	getVertex(int indexInRod)	Return the mesh vertex at the specified end.
RodStretchShear	setBishop(QuatArg bishop)	Alter the Bishop frame of the rod.
RodStretchShear	setCompliance(float compliance)	Alter the stiffness of the rod.
RodStretchShear	setInvMass(float invMass)	Alter the inverse mass of the rod.
RodStretchShear	setLength(float length)	Alter the length of the rod.
RodStretchShear	setVertex(int indexInRod, int indexInMesh)	Assign the specified mesh vertex to the rod.

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

RodStretchShear

public RodStretchShear()

Instantiate a default rod.

RodStretchShear

public RodStretchShear(int vertex0,
 int vertex1)

Instantiate a rod joining the specified vertices with infinite stiffness.

Parameters:

vertex0 - the mesh index of the first vertex (≥0)

vertex1 - the mesh index of the 2nd vertex (≥0)

RodStretchShear

public RodStretchShear(int vertex0,
 int vertex1,
 float compliance)

Instantiate a rod joining the specified vertices with the specified stiffness.

Parameters:

vertex0 - the mesh index of the first vertex (≥0)

vertex1 - the mesh index of the 2nd vertex (≥0)

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

Method Details

setBishop

public RodStretchShear setBishop(QuatArg bishop)

Alter the Bishop frame of the rod. (native attribute: mBishop)

Parameters:

bishop - the desired orientation (not null, unaffected)

Returns:

the modified settings, for chaining

setCompliance

public RodStretchShear setCompliance(float compliance)

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

Parameters:

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

Returns:

the modified settings, for chaining

setInvMass

public RodStretchShear setInvMass(float invMass)

Alter the inverse mass of the rod. (native attribute: mInvMass)

Parameters:

invMass - the desired inverse mass (in 1/kilograms, default=1, 0 for a static rod)

Returns:

the modified settings, for chaining

setLength

public RodStretchShear setLength(float length)

Alter the length of the rod. (native attribute: mLength)

Parameters:

length - the desired length (in meters, default=1)

Returns:

the modified settings, for chaining

setVertex

public RodStretchShear setVertex(int indexInRod,
 int indexInMesh)

Assign the specified mesh vertex to the rod. (native attribute: mVertex)

Parameters:

indexInRod - which end of the rod (0 or 1)

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

Returns:

the modified settings, for chaining

getBishop

public Quat getBishop()

Return the Bishop frame of the rod. The rod is unaffected. (native attribute: mBishop)

Specified by:

getBishop in interface ConstRodStretchShear

Returns:

orientation of the rod

getCompliance

public float getCompliance()

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

Specified by:

getCompliance in interface ConstRodStretchShear

Returns:

the compliance value

getInvMass

public float getInvMass()

Return the inverse mass of the rod. The rod is unaffected. (native attribute: mInvMass)

Specified by:

getInvMass in interface ConstRodStretchShear

Returns:

the inverse of the mass (in 1/kilograms)

getLength

public float getLength()

Return the length of the rod. The rod is unaffected. (native attribute: mLength)

Specified by:

getLength in interface ConstRodStretchShear

Returns:

the length (in meters)

getVertex

public int getVertex(int indexInRod)

Return the mesh vertex at the specified end. (native attribute: mVertex)

Specified by:

getVertex in interface ConstRodStretchShear

Parameters:

indexInRod - which end of the rod (0 or 1)

Returns:

the mesh index of the vertex (≥0)