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

Class SwingTwistConstraint

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.SwingTwistConstraint
All Implemented Interfaces:
ConstConstraint, ConstJoltPhysicsObject, ConstTwoBodyConstraint, RefTarget, AutoCloseable, Comparable<JoltPhysicsObject>
public class SwingTwistConstraint extends TwoBodyConstraint
A TwoBodyConstraint that only allows limited rotation.

  • Method Details

    • getSwingMotorSettings

      public MotorSettings getSwingMotorSettings()
      Access the settings of the swing motor.
      Returns:
      a new JVM object with the pre-existing native object assigned

    • getSwingMotorState

      public EMotorState getSwingMotorState()
      Return the state of the swing motor. The constraint is unaffected.
      Returns:
      the enum value (not null)

    • getTargetAngularVelocityCs

      public Vec3 getTargetAngularVelocityCs()
      Copy the target angular velocity of body2. The constraint is unaffected. (native function: GetTargetAngularVelocityCS)
      Returns:
      a new vector

    • getTargetOrientationCs

      public Quat getTargetOrientationCs()
      Copy the target orientation. The constraint is unaffected. (native function: GetTargetOrientationCS)
      Returns:
      a new quaternion

    • getTwistMotorSettings

      public MotorSettings getTwistMotorSettings()
      Access the settings of the twist motor.
      Returns:
      a new JVM object with the pre-existing native object assigned

    • getTwistMotorState

      public EMotorState getTwistMotorState()
      Return the state of the twist motor. The constraint is unaffected.
      Returns:
      the enum value (not null)

    • setMaxFrictionTorque

      public void setMaxFrictionTorque(float torque)
      Alter the maximum friction torque when not driven by a motor.
      Parameters:
      torque - the desired limit (in Newton.meters)

    • setNormalHalfConeAngle

      public void setNormalHalfConeAngle(float angle)
      Alter the normal half-cone angle.
      Parameters:
      angle - the desired angle (in radians)

    • setPlaneHalfConeAngle

      public void setPlaneHalfConeAngle(float angle)
      Alter the half-angle of the plane cone.
      Parameters:
      angle - the desired limit (in radians)

    • setSwingMotorState

      public void setSwingMotorState(EMotorState motorState)
      Alter the state of the swing motor.
      Parameters:
      motorState - an enum value (not null)

    • setTwistMaxAngle

      public void setTwistMaxAngle(float angle)
      Alter the maximum twist angle.
      Parameters:
      angle - the desired limit (in radians, ≥-Pi, ≤Pi)

    • setTwistMinAngle

      public void setTwistMinAngle(float angle)
      Alter the minimum twist angle.
      Parameters:
      angle - the desired limit (in radians ≥-Pi, ≤Pi)

    • setTwistMotorState

      public void setTwistMotorState(EMotorState motorState)
      Alter the state of the twist motor.
      Parameters:
      motorState - an enum value (not null)

    • setTargetAngularVelocityCs

      public void setTargetAngularVelocityCs(Vec3Arg omega)
      Alter the target angular velocity of body 2 in the constraint space of body 2. (native function: SetTargetAngularVelocityCS)
      Parameters:
      omega - the desired angular velocity (in radians per second, not null, unaffected)

    • setTargetOrientationCs

      public void setTargetOrientationCs(QuatArg orientation)
      Alter the target orientation in constraint space. (native function: SetTargetOrientationCS)
      Parameters:
      orientation - the desired orientation (not null, unaffected)