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, RefTarget, AutoCloseable, Comparable<ConstJoltPhysicsObject>

Direct Known Subclasses:

ConeConstraint, DistanceConstraint, FixedConstraint, GearConstraint, HingeConstraint, PointConstraint, SixDofConstraint, SliderConstraint

public abstract class TwoBodyConstraint
extends Constraint

A type of Constraint that joins 2 bodies.

Method Summary

Modifier and Type	Method	Description
Body	getBody1()	Access the first body in the constraint.
Body	getBody2()	Access the 2nd body in the constraint.
Mat44	getConstraintToBody1Matrix()	Calculate the coordinate transform from constraint space to body 1.
Mat44	getConstraintToBody2Matrix()	Calculate the coordinate transform from constraint space to body 2.

Methods inherited from class com.github.stephengold.joltjni.Constraint

getConstraintPriority, getConstraintSettings, getEnabled, getNumPositionStepsOverride, getNumVelocityStepsOverride, getRefCount, getSubType, getType, getUserData, setConstraintPriority, setEmbedded, setEnabled, setNumPositionStepsOverride, setNumVelocityStepsOverride, setUserData, toRef

Methods inherited from class com.github.stephengold.joltjni.JoltPhysicsObject

close, compareTo, equals, hasAssignedNativeObject, hashCode, ownsNativeObject, setVirtualAddress, startCleaner, 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, va

Method Details

getBody1

public Body getBody1()

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

Returns:

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

getBody2

public Body getBody2()

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

Returns:

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

getConstraintToBody1Matrix

public Mat44 getConstraintToBody1Matrix()

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

Returns:

a new transform matrix

getConstraintToBody2Matrix

public Mat44 getConstraintToBody2Matrix()

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

Returns:

a new transform matrix