Module org.dyn4j

Package org.dyn4j.dynamics.joint

Class AbstractPairedBodyJoint<T extends PhysicsBody>

Object

AbstractJoint<T>

AbstractPairedBodyJoint<T>

Type Parameters:

T - the PhysicsBody type

All Implemented Interfaces:

DataContainer, Joint<T>, PairedBodyJoint<T>, Shiftable, Ownable

Direct Known Subclasses:

AngleJoint, DistanceJoint, FrictionJoint, MotorJoint, PrismaticJoint, PulleyJoint, RevoluteJoint, WeldJoint, WheelJoint

public abstract class AbstractPairedBodyJoint<T extends PhysicsBody>
extends AbstractJoint<T>
implements PairedBodyJoint<T>, Joint<T>, Shiftable, DataContainer, Ownable

Represents an abstract implementation of constrained motion between two PhysicsBodys.

Since:

5.0.0

Version:

5.0.0

Author:

William Bittle

Field Summary

Fields

Modifier and Type	Field	Description
protected T	body1	The first linked body
protected T	body2	The second linked body

Fields inherited from class AbstractJoint

bodies, collisionAllowed, owner, userData

Fields inherited from interface Joint

SPRING_MODE_FREQUENCY, SPRING_MODE_STIFFNESS

Constructor Summary

Constructors

Constructor	Description
AbstractPairedBodyJoint(T body1, T body2)	Optional constructor.

Method Summary

Modifier and Type	Method	Description
T	getBody(int i)	Returns the body at the given index.
T	getBody1()	Returns the first body.
T	getBody2()	Returns the second body.
int	getBodyCount()	Returns the number of bodies involved in this joint.
T	getOtherBody(CollisionBody<?> body)	Returns the body that does not match the given body.
protected double	getReducedInertia()	Returns the reduced inertia of this pair of bodies.
protected double	getReducedMass()	Returns the reduced mass of this pair of bodies.
boolean	isEnabled()	Returns true if this Joint is enabled.
boolean	isMember(CollisionBody<?> body)	Returns true if the given body is a member of this joint.
void	setCollisionAllowed(boolean flag)	Sets whether collision is allowed between the joined PhysicsBodys.

Methods inherited from class AbstractJoint

getBodies, getBodyIterator, getConstraintImpulseMixing, getErrorReductionParameter, getFrequency, getNaturalFrequency, getNaturalFrequency, getOwner, getSpringDampingCoefficient, getSpringStiffness, getUserData, isCollisionAllowed, setOwner, setUserData, toString

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface DataContainer

getUserData, setUserData

Methods inherited from interface Joint

getBodies, getBodyIterator, getReactionForce, getReactionTorque, initializeConstraints, isCollisionAllowed, solvePositionConstraints, solveVelocityConstraints

Methods inherited from interface Ownable

getOwner, setOwner

Methods inherited from interface Shiftable

shift

Field Detail

body1

protected final T extends PhysicsBody body1

The first linked body

body2

protected final T extends PhysicsBody body2

The second linked body

Constructor Detail

AbstractPairedBodyJoint

public AbstractPairedBodyJoint(T body1,
                               T body2)

Optional constructor.

Assumes that the joined bodies do not participate in collision detection and resolution.

Parameters:

body1 - the first PhysicsBody

body2 - the second PhysicsBody

Throws:

NullPointerException - if body1 or body2 is null

IllegalArgumentException - if body1 and body2 are the same object reference

Method Detail

getReducedMass

protected final double getReducedMass()

Returns the reduced mass of this pair of bodies.

The reduced mass is used to solve spring/damper problems as a single body rather than as a system of two bodies.

https://en.wikipedia.org/wiki/Reduced_mass

Returns:

double

getReducedInertia

protected final double getReducedInertia()

Returns the reduced inertia of this pair of bodies.

Returns:

double

See Also:

getReducedMass()

isEnabled

public final boolean isEnabled()

Description copied from interface: Joint

Returns true if this Joint is enabled.

A joint is only enabled if all joined PhysicsBodys are enabled.

Specified by:

isEnabled in interface Joint<T extends PhysicsBody>

Overrides:

isEnabled in class AbstractJoint<T extends PhysicsBody>

Returns:

boolean

getBody

public final T getBody(int i)

Description copied from interface: Joint

Returns the body at the given index.

Specified by:

getBody in interface Joint<T extends PhysicsBody>

Overrides:

getBody in class AbstractJoint<T extends PhysicsBody>

Parameters:

i - the index

Returns:

T

getBodyCount

public final int getBodyCount()

Description copied from interface: Joint

Returns the number of bodies involved in this joint.

Specified by:

getBodyCount in interface Joint<T extends PhysicsBody>

Overrides:

getBodyCount in class AbstractJoint<T extends PhysicsBody>

Returns:

int

isMember

public final boolean isMember(CollisionBody<?> body)

Description copied from interface: Joint

Returns true if the given body is a member of this joint.

Specified by:

isMember in interface Joint<T extends PhysicsBody>

Overrides:

isMember in class AbstractJoint<T extends PhysicsBody>

Parameters:

body - the body

Returns:

boolean

setCollisionAllowed

public final void setCollisionAllowed(boolean flag)

Description copied from interface: Joint

Sets whether collision is allowed between the joined PhysicsBodys.

Specified by:

setCollisionAllowed in interface Joint<T extends PhysicsBody>

Overrides:

setCollisionAllowed in class AbstractJoint<T extends PhysicsBody>

Parameters:

flag - true if collisions are allowed

getOtherBody

public final T getOtherBody(CollisionBody<?> body)

Description copied from interface: PairedBodyJoint

Returns the body that does not match the given body.

If the given body is neither body1 or body2, null is returned.

Specified by:

getOtherBody in interface PairedBodyJoint<T extends PhysicsBody>

Parameters:

body - the body

Returns:

T

getBody1

public final T getBody1()

Description copied from interface: PairedBodyJoint

Returns the first body.

Specified by:

getBody1 in interface PairedBodyJoint<T extends PhysicsBody>

Returns:

T

getBody2

public final T getBody2()

Description copied from interface: PairedBodyJoint

Returns the second body.

Specified by:

getBody2 in interface PairedBodyJoint<T extends PhysicsBody>

Returns:

T