SliderConstraint (jbullet 20101010-1 API)

java.lang.Object
- com.bulletphysics.dynamics.constraintsolver.TypedConstraint
- - com.bulletphysics.dynamics.constraintsolver.SliderConstraint

public class SliderConstraint
extends TypedConstraint

Author:: jezek2

Field Summary

Fields
Modifier and Type	Field and Description
`protected float`	`accumulatedAngMotorImpulse`
`protected float`	`accumulatedLinMotorImpulse`
`protected float`	`angDepth`
`protected Transform`	`calculatedTransformA`
`protected Transform`	`calculatedTransformB`
`protected float`	`dampingDirAng`
`protected float`	`dampingDirLin`
`protected float`	`dampingLimAng`
`protected float`	`dampingLimLin`
`protected float`	`dampingOrthoAng`
`protected float`	`dampingOrthoLin`
`protected javax.vecmath.Vector3f`	`delta`
`protected javax.vecmath.Vector3f`	`depth`
`protected Transform`	`frameInA`
`protected Transform`	`frameInB`
`protected JacobianEntry[]`	`jacAng`
`protected JacobianEntry[]`	`jacLin`
`protected float[]`	`jacLinDiagABInv`
`protected float`	`kAngle`
`protected float`	`linPos`
`protected float`	`lowerAngLimit`
`protected float`	`lowerLinLimit`
`protected float`	`maxAngMotorForce`
`protected float`	`maxLinMotorForce`
`protected boolean`	`poweredAngMotor`
`protected boolean`	`poweredLinMotor`
`protected javax.vecmath.Vector3f`	`projPivotInW`
`protected javax.vecmath.Vector3f`	`realPivotAInW`
`protected javax.vecmath.Vector3f`	`realPivotBInW`
`protected javax.vecmath.Vector3f`	`relPosA`
`protected javax.vecmath.Vector3f`	`relPosB`
`protected float`	`restitutionDirAng`
`protected float`	`restitutionDirLin`
`protected float`	`restitutionLimAng`
`protected float`	`restitutionLimLin`
`protected float`	`restitutionOrthoAng`
`protected float`	`restitutionOrthoLin`
`static float`	`SLIDER_CONSTRAINT_DEF_DAMPING`
`static float`	`SLIDER_CONSTRAINT_DEF_RESTITUTION`
`static float`	`SLIDER_CONSTRAINT_DEF_SOFTNESS`
`protected javax.vecmath.Vector3f`	`sliderAxis`
`protected float`	`softnessDirAng`
`protected float`	`softnessDirLin`
`protected float`	`softnessLimAng`
`protected float`	`softnessLimLin`
`protected float`	`softnessOrthoAng`
`protected float`	`softnessOrthoLin`
`protected boolean`	`solveAngLim`
`protected boolean`	`solveLinLim`
`protected float`	`targetAngMotorVelocity`
`protected float`	`targetLinMotorVelocity`
`protected float`	`timeStep`
`protected float`	`upperAngLimit`
`protected float`	`upperLinLimit`
`protected boolean`	`useLinearReferenceFrameA`

Fields inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint
appliedImpulse, rbA, rbB

Constructor Summary

Constructors
Constructor and Description
`SliderConstraint()`
`SliderConstraint(RigidBody rbA, RigidBody rbB, Transform frameInA, Transform frameInB, boolean useLinearReferenceFrameA)`

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`buildJacobian()`
`void`	`buildJacobianInt(RigidBody rbA, RigidBody rbB, Transform frameInA, Transform frameInB)`
`void`	`calculateTransforms()`
`javax.vecmath.Vector3f`	`getAncorInA(javax.vecmath.Vector3f out)`
`javax.vecmath.Vector3f`	`getAncorInB(javax.vecmath.Vector3f out)`
`float`	`getAngDepth()`
`Transform`	`getCalculatedTransformA(Transform out)`
`Transform`	`getCalculatedTransformB(Transform out)`
`float`	`getDampingDirAng()`
`float`	`getDampingDirLin()`
`float`	`getDampingLimAng()`
`float`	`getDampingLimLin()`
`float`	`getDampingOrthoAng()`
`float`	`getDampingOrthoLin()`
`Transform`	`getFrameOffsetA(Transform out)`
`Transform`	`getFrameOffsetB(Transform out)`
`float`	`getLinDepth()`
`float`	`getLinearPos()`
`float`	`getLowerAngLimit()`
`float`	`getLowerLinLimit()`
`float`	`getMaxAngMotorForce()`
`float`	`getMaxLinMotorForce()`
`boolean`	`getPoweredAngMotor()`
`boolean`	`getPoweredLinMotor()`
`float`	`getRestitutionDirAng()`
`float`	`getRestitutionDirLin()`
`float`	`getRestitutionLimAng()`
`float`	`getRestitutionLimLin()`
`float`	`getRestitutionOrthoAng()`
`float`	`getRestitutionOrthoLin()`
`float`	`getSoftnessDirAng()`
`float`	`getSoftnessDirLin()`
`float`	`getSoftnessLimAng()`
`float`	`getSoftnessLimLin()`
`float`	`getSoftnessOrthoAng()`
`float`	`getSoftnessOrthoLin()`
`boolean`	`getSolveAngLimit()`
`boolean`	`getSolveLinLimit()`
`float`	`getTargetAngMotorVelocity()`
`float`	`getTargetLinMotorVelocity()`
`float`	`getUpperAngLimit()`
`float`	`getUpperLinLimit()`
`boolean`	`getUseLinearReferenceFrameA()`
`protected void`	`initParams()`
`void`	`setDampingDirAng(float dampingDirAng)`
`void`	`setDampingDirLin(float dampingDirLin)`
`void`	`setDampingLimAng(float dampingLimAng)`
`void`	`setDampingLimLin(float dampingLimLin)`
`void`	`setDampingOrthoAng(float dampingOrthoAng)`
`void`	`setDampingOrthoLin(float dampingOrthoLin)`
`void`	`setLowerAngLimit(float lowerLimit)`
`void`	`setLowerLinLimit(float lowerLimit)`
`void`	`setMaxAngMotorForce(float maxAngMotorForce)`
`void`	`setMaxLinMotorForce(float maxLinMotorForce)`
`void`	`setPoweredAngMotor(boolean onOff)`
`void`	`setPoweredLinMotor(boolean onOff)`
`void`	`setRestitutionDirAng(float restitutionDirAng)`
`void`	`setRestitutionDirLin(float restitutionDirLin)`
`void`	`setRestitutionLimAng(float restitutionLimAng)`
`void`	`setRestitutionLimLin(float restitutionLimLin)`
`void`	`setRestitutionOrthoAng(float restitutionOrthoAng)`
`void`	`setRestitutionOrthoLin(float restitutionOrthoLin)`
`void`	`setSoftnessDirAng(float softnessDirAng)`
`void`	`setSoftnessDirLin(float softnessDirLin)`
`void`	`setSoftnessLimAng(float softnessLimAng)`
`void`	`setSoftnessLimLin(float softnessLimLin)`
`void`	`setSoftnessOrthoAng(float softnessOrthoAng)`
`void`	`setSoftnessOrthoLin(float softnessOrthoLin)`
`void`	`setTargetAngMotorVelocity(float targetAngMotorVelocity)`
`void`	`setTargetLinMotorVelocity(float targetLinMotorVelocity)`
`void`	`setUpperAngLimit(float upperLimit)`
`void`	`setUpperLinLimit(float upperLimit)`
`void`	`solveConstraint(float timeStep)`
`void`	`solveConstraintInt(RigidBody rbA, RigidBody rbB)`
`void`	`testAngLimits()`
`void`	`testLinLimits()`

Methods inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint
getAppliedImpulse, getConstraintType, getRigidBodyA, getRigidBodyB, getUid, getUserConstraintId, getUserConstraintType, setUserConstraintId, setUserConstraintType

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

SLIDER_CONSTRAINT_DEF_SOFTNESS
```
public static final float SLIDER_CONSTRAINT_DEF_SOFTNESS
```
See Also:
Constant Field Values

SLIDER_CONSTRAINT_DEF_DAMPING
```
public static final float SLIDER_CONSTRAINT_DEF_DAMPING
```
See Also:
Constant Field Values

SLIDER_CONSTRAINT_DEF_RESTITUTION
```
public static final float SLIDER_CONSTRAINT_DEF_RESTITUTION
```
See Also:
Constant Field Values

frameInA
```
protected final Transform frameInA
```

frameInB
```
protected final Transform frameInB
```

useLinearReferenceFrameA

protected boolean useLinearReferenceFrameA

lowerLinLimit
```
protected float lowerLinLimit
```

upperLinLimit
```
protected float upperLinLimit
```

lowerAngLimit
```
protected float lowerAngLimit
```

upperAngLimit
```
protected float upperAngLimit
```

softnessDirLin
```
protected float softnessDirLin
```

restitutionDirLin
```
protected float restitutionDirLin
```

dampingDirLin
```
protected float dampingDirLin
```

softnessDirAng
```
protected float softnessDirAng
```

restitutionDirAng
```
protected float restitutionDirAng
```

dampingDirAng
```
protected float dampingDirAng
```

softnessLimLin
```
protected float softnessLimLin
```

restitutionLimLin
```
protected float restitutionLimLin
```

dampingLimLin
```
protected float dampingLimLin
```

softnessLimAng
```
protected float softnessLimAng
```

restitutionLimAng
```
protected float restitutionLimAng
```

dampingLimAng
```
protected float dampingLimAng
```

softnessOrthoLin
```
protected float softnessOrthoLin
```

restitutionOrthoLin
```
protected float restitutionOrthoLin
```

dampingOrthoLin
```
protected float dampingOrthoLin
```

softnessOrthoAng
```
protected float softnessOrthoAng
```

restitutionOrthoAng
```
protected float restitutionOrthoAng
```

dampingOrthoAng
```
protected float dampingOrthoAng
```

solveLinLim
```
protected boolean solveLinLim
```

solveAngLim
```
protected boolean solveAngLim
```

jacLin
```
protected JacobianEntry[] jacLin
```

jacLinDiagABInv
```
protected float[] jacLinDiagABInv
```

jacAng
```
protected JacobianEntry[] jacAng
```

timeStep
```
protected float timeStep
```

calculatedTransformA

protected final Transform calculatedTransformA

calculatedTransformB

protected final Transform calculatedTransformB

sliderAxis

protected final javax.vecmath.Vector3f sliderAxis

realPivotAInW

protected final javax.vecmath.Vector3f realPivotAInW

realPivotBInW

protected final javax.vecmath.Vector3f realPivotBInW

projPivotInW

protected final javax.vecmath.Vector3f projPivotInW

delta

protected final javax.vecmath.Vector3f delta

depth

protected final javax.vecmath.Vector3f depth

relPosA

protected final javax.vecmath.Vector3f relPosA

relPosB

protected final javax.vecmath.Vector3f relPosB

linPos
```
protected float linPos
```

angDepth
```
protected float angDepth
```

kAngle
```
protected float kAngle
```

poweredLinMotor
```
protected boolean poweredLinMotor
```

targetLinMotorVelocity
```
protected float targetLinMotorVelocity
```

maxLinMotorForce
```
protected float maxLinMotorForce
```

accumulatedLinMotorImpulse

protected float accumulatedLinMotorImpulse

poweredAngMotor
```
protected boolean poweredAngMotor
```

targetAngMotorVelocity
```
protected float targetAngMotorVelocity
```

maxAngMotorForce
```
protected float maxAngMotorForce
```

accumulatedAngMotorImpulse

protected float accumulatedAngMotorImpulse

Constructor Detail

SliderConstraint
```
public SliderConstraint()
```

SliderConstraint

public SliderConstraint(RigidBody rbA,
                RigidBody rbB,
                Transform frameInA,
                Transform frameInB,
                boolean useLinearReferenceFrameA)

Method Detail

initParams
```
protected void initParams()
```

buildJacobian
```
public void buildJacobian()
```
Specified by:

buildJacobian in class TypedConstraint

solveConstraint
```
public void solveConstraint(float timeStep)
```
Specified by:

solveConstraint in class TypedConstraint

getCalculatedTransformA

public Transform getCalculatedTransformA(Transform out)

getCalculatedTransformB

public Transform getCalculatedTransformB(Transform out)

getFrameOffsetA

public Transform getFrameOffsetA(Transform out)

getFrameOffsetB

public Transform getFrameOffsetB(Transform out)

getLowerLinLimit
```
public float getLowerLinLimit()
```

setLowerLinLimit

public void setLowerLinLimit(float lowerLimit)

getUpperLinLimit
```
public float getUpperLinLimit()
```

setUpperLinLimit

public void setUpperLinLimit(float upperLimit)

getLowerAngLimit
```
public float getLowerAngLimit()
```

setLowerAngLimit

public void setLowerAngLimit(float lowerLimit)

getUpperAngLimit
```
public float getUpperAngLimit()
```

setUpperAngLimit

public void setUpperAngLimit(float upperLimit)

getUseLinearReferenceFrameA

public boolean getUseLinearReferenceFrameA()

getSoftnessDirLin
```
public float getSoftnessDirLin()
```

getRestitutionDirLin
```
public float getRestitutionDirLin()
```

getDampingDirLin
```
public float getDampingDirLin()
```

getSoftnessDirAng
```
public float getSoftnessDirAng()
```

getRestitutionDirAng
```
public float getRestitutionDirAng()
```

getDampingDirAng
```
public float getDampingDirAng()
```

getSoftnessLimLin
```
public float getSoftnessLimLin()
```

getRestitutionLimLin
```
public float getRestitutionLimLin()
```

getDampingLimLin
```
public float getDampingLimLin()
```

getSoftnessLimAng
```
public float getSoftnessLimAng()
```

getRestitutionLimAng
```
public float getRestitutionLimAng()
```

getDampingLimAng
```
public float getDampingLimAng()
```

getSoftnessOrthoLin
```
public float getSoftnessOrthoLin()
```

getRestitutionOrthoLin
```
public float getRestitutionOrthoLin()
```

getDampingOrthoLin
```
public float getDampingOrthoLin()
```

getSoftnessOrthoAng
```
public float getSoftnessOrthoAng()
```

getRestitutionOrthoAng
```
public float getRestitutionOrthoAng()
```

getDampingOrthoAng
```
public float getDampingOrthoAng()
```

setSoftnessDirLin

public void setSoftnessDirLin(float softnessDirLin)

setRestitutionDirLin

public void setRestitutionDirLin(float restitutionDirLin)

setDampingDirLin

public void setDampingDirLin(float dampingDirLin)

setSoftnessDirAng

public void setSoftnessDirAng(float softnessDirAng)

setRestitutionDirAng

public void setRestitutionDirAng(float restitutionDirAng)

setDampingDirAng

public void setDampingDirAng(float dampingDirAng)

setSoftnessLimLin

public void setSoftnessLimLin(float softnessLimLin)

setRestitutionLimLin

public void setRestitutionLimLin(float restitutionLimLin)

setDampingLimLin

public void setDampingLimLin(float dampingLimLin)

setSoftnessLimAng

public void setSoftnessLimAng(float softnessLimAng)

setRestitutionLimAng

public void setRestitutionLimAng(float restitutionLimAng)

setDampingLimAng

public void setDampingLimAng(float dampingLimAng)

setSoftnessOrthoLin

public void setSoftnessOrthoLin(float softnessOrthoLin)

setRestitutionOrthoLin

public void setRestitutionOrthoLin(float restitutionOrthoLin)

setDampingOrthoLin

public void setDampingOrthoLin(float dampingOrthoLin)

setSoftnessOrthoAng

public void setSoftnessOrthoAng(float softnessOrthoAng)

setRestitutionOrthoAng

public void setRestitutionOrthoAng(float restitutionOrthoAng)

setDampingOrthoAng

public void setDampingOrthoAng(float dampingOrthoAng)

setPoweredLinMotor

public void setPoweredLinMotor(boolean onOff)

getPoweredLinMotor
```
public boolean getPoweredLinMotor()
```

setTargetLinMotorVelocity

public void setTargetLinMotorVelocity(float targetLinMotorVelocity)

getTargetLinMotorVelocity

public float getTargetLinMotorVelocity()

setMaxLinMotorForce

public void setMaxLinMotorForce(float maxLinMotorForce)

getMaxLinMotorForce
```
public float getMaxLinMotorForce()
```

setPoweredAngMotor

public void setPoweredAngMotor(boolean onOff)

getPoweredAngMotor
```
public boolean getPoweredAngMotor()
```

setTargetAngMotorVelocity

public void setTargetAngMotorVelocity(float targetAngMotorVelocity)

getTargetAngMotorVelocity

public float getTargetAngMotorVelocity()

setMaxAngMotorForce

public void setMaxAngMotorForce(float maxAngMotorForce)

getMaxAngMotorForce
```
public float getMaxAngMotorForce()
```

getLinearPos
```
public float getLinearPos()
```

getSolveLinLimit
```
public boolean getSolveLinLimit()
```

getLinDepth
```
public float getLinDepth()
```

getSolveAngLimit
```
public boolean getSolveAngLimit()
```

getAngDepth
```
public float getAngDepth()
```

buildJacobianInt

public void buildJacobianInt(RigidBody rbA,
                    RigidBody rbB,
                    Transform frameInA,
                    Transform frameInB)

solveConstraintInt

public void solveConstraintInt(RigidBody rbA,
                      RigidBody rbB)

calculateTransforms
```
public void calculateTransforms()
```

testLinLimits
```
public void testLinLimits()
```

testAngLimits
```
public void testAngLimits()
```

getAncorInA

public javax.vecmath.Vector3f getAncorInA(javax.vecmath.Vector3f out)

getAncorInB

public javax.vecmath.Vector3f getAncorInB(javax.vecmath.Vector3f out)

Class SliderConstraint

Field Summary

Fields inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint

Constructor Summary

Method Summary

Methods inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint

Methods inherited from class java.lang.Object

Field Detail

SLIDER_CONSTRAINT_DEF_SOFTNESS

SLIDER_CONSTRAINT_DEF_DAMPING

SLIDER_CONSTRAINT_DEF_RESTITUTION

frameInA

frameInB

useLinearReferenceFrameA

lowerLinLimit

upperLinLimit

lowerAngLimit

upperAngLimit

softnessDirLin

restitutionDirLin

dampingDirLin

softnessDirAng

restitutionDirAng

dampingDirAng

softnessLimLin

restitutionLimLin

dampingLimLin

softnessLimAng

restitutionLimAng

dampingLimAng

softnessOrthoLin

restitutionOrthoLin

dampingOrthoLin

softnessOrthoAng

restitutionOrthoAng

dampingOrthoAng

solveLinLim

solveAngLim

jacLin

jacLinDiagABInv

jacAng

timeStep

calculatedTransformA

calculatedTransformB

sliderAxis

realPivotAInW

realPivotBInW

projPivotInW

delta

depth

relPosA

relPosB

linPos

angDepth

kAngle

poweredLinMotor

targetLinMotorVelocity

maxLinMotorForce

accumulatedLinMotorImpulse

poweredAngMotor

targetAngMotorVelocity

maxAngMotorForce

accumulatedAngMotorImpulse

Constructor Detail

SliderConstraint

SliderConstraint

Method Detail

initParams

buildJacobian

solveConstraint

getCalculatedTransformA

getCalculatedTransformB

getFrameOffsetA

getFrameOffsetB

getLowerLinLimit

setLowerLinLimit

getUpperLinLimit

setUpperLinLimit

getLowerAngLimit

setLowerAngLimit