Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class TwoBodyConstraint

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.NonCopyable

com.github.stephengold.joltjni.Constraint

com.github.stephengold.joltjni.TwoBodyConstraint

All Implemented Interfaces:

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

Direct Known Subclasses:

ConeConstraint, DistanceConstraint, FixedConstraint, GearConstraint, HingeConstraint, PathConstraint, PointConstraint, PulleyConstraint, RackAndPinionConstraint, SixDofConstraint, SliderConstraint, SwingTwistConstraint

public abstract class TwoBodyConstraint
extends Constraint
implements ConstTwoBodyConstraint

A type of Constraint that joins 2 bodies.

Method Summary

Modifier and Type	Method	Description
Body	getBody1()	Access the first body in the constraint.
void	getBody1PivotLocation(DoubleBuffer storeResult)	Copy the first body's pivot location.
Body	getBody2()	Access the 2nd body in the constraint.
void	getBody2PivotLocation(DoubleBuffer storeResult)	Copy the 2nd body's pivot location.
Mat44	getConstraintToBody1Matrix()	Calculate the coordinate transform from constraint space to body 1.
Mat44	getConstraintToBody2Matrix()	Calculate the coordinate transform from constraint space to body 2.
TwoBodyConstraintRef	toRef()	Create a counted reference to the native TwoBodyConstraint.

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

toRef

public TwoBodyConstraintRef toRef()

Create a counted reference to the native TwoBodyConstraint.

Specified by:

toRef in interface RefTarget

Overrides:

toRef in class Constraint

Returns:

a new JVM object with a new native object assigned

getBody1

public Body getBody1()

Access the first body in the constraint. The constraint is unaffected.

Specified by:

getBody1 in interface ConstTwoBodyConstraint

Returns:

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

getBody1PivotLocation

public void getBody1PivotLocation(DoubleBuffer storeResult)

Copy the first body's pivot location. The constraint is unaffected.

Specified by:

getBody1PivotLocation in interface ConstTwoBodyConstraint

Parameters:

storeResult - storage for the location in system coordinates (not null, modified)

getBody2

public Body getBody2()

Access the 2nd body in the constraint. The constraint is unaffected.

Specified by:

getBody2 in interface ConstTwoBodyConstraint

Returns:

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

getBody2PivotLocation

public void getBody2PivotLocation(DoubleBuffer storeResult)

Copy the 2nd body's pivot location. The constraint is unaffected.

Specified by:

getBody2PivotLocation in interface ConstTwoBodyConstraint

Parameters:

storeResult - storage for the location in system coordinates (not null, modified)

getConstraintToBody1Matrix

public Mat44 getConstraintToBody1Matrix()

Calculate the coordinate transform from constraint space to body 1. The constraint is unaffected.

Specified by:

getConstraintToBody1Matrix in interface ConstTwoBodyConstraint

Returns:

a new transform matrix

getConstraintToBody2Matrix

public Mat44 getConstraintToBody2Matrix()

Calculate the coordinate transform from constraint space to body 2. The constraint is unaffected.

Specified by:

getConstraintToBody2Matrix in interface ConstTwoBodyConstraint

Returns:

a new transform matrix