Package com.github.stephengold.joltjni

Class VehicleConstraint

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.NonCopyable

com.github.stephengold.joltjni.Constraint

com.github.stephengold.joltjni.VehicleConstraint

All Implemented Interfaces:

PhysicsStepListener, ConstConstraint, ConstJoltPhysicsObject, RefTarget, AutoCloseable, Comparable<ConstJoltPhysicsObject>

public class VehicleConstraint
extends Constraint
implements PhysicsStepListener

A constraint used in vehicle simulation.

Constructor Summary

Constructors

Constructor	Description
VehicleConstraint(Body body, VehicleConstraintSettings settings)	Instantiate a constraint using the specified body and settings.

Method Summary

Modifier and Type	Method	Description
VehicleController	getController()	Access the controller for this constraint.
Body	getVehicleBody()	Access the vehicle body.
VehicleCollisionTester	getVehicleCollisionTester()	Access the underlying tester, if any.
Wheel	getWheel(int wheelIndex)	Access the specified wheel.
RMat44	getWheelWorldTransform(int wheelIndex, Vec3Arg right, Vec3Arg up)	Copy the world transform of the specified wheel.
void	onStep(long contextVa)	Callback invoked (by native code) each time the system is stepped.
void	setNumStepsBetweenCollisionTestActive(int numSteps)	Return the number of simulation steps between wheel collision tests when the vehicle is active.
void	setNumStepsBetweenCollisionTestInactive(int numSteps)	Return the number of simulation steps between wheel collision tests when the vehicle is inactive.
void	setVehicleCollisionTester(VehicleCollisionTester tester)	Replace the collision tester.

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

Constructor Details

VehicleConstraint

public VehicleConstraint(Body body,
 VehicleConstraintSettings settings)

Instantiate a constraint using the specified body and settings.

Parameters:

body - the body to which the constraint will apply (not null)

settings - the desired settings (not null, unaffected)

Method Details

getController

public VehicleController getController()

Access the controller for this constraint.

Returns:

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

getVehicleBody

public Body getVehicleBody()

Access the vehicle body.

Returns:

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

getVehicleCollisionTester

public VehicleCollisionTester getVehicleCollisionTester()

Access the underlying tester, if any.

Returns:

the pre-existing instance or null if none

getWheel

public Wheel getWheel(int wheelIndex)

Access the specified wheel.

Parameters:

wheelIndex - the index of the wheel to access (≥0)

Returns:

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

getWheelWorldTransform

public RMat44 getWheelWorldTransform(int wheelIndex,
 Vec3Arg right,
 Vec3Arg up)

Copy the world transform of the specified wheel.

Parameters:

wheelIndex - the index of the wheel to query (≥0)

right - the wheel's axis of rotation (a unit vector in the wheel's model space)

up - the "up" direction (a unit vector in the wheel's model space)

Returns:

a new coordinate transform matrix

setNumStepsBetweenCollisionTestActive

public void setNumStepsBetweenCollisionTestActive(int numSteps)

Return the number of simulation steps between wheel collision tests when the vehicle is active.

Parameters:

numSteps - the desired number of steps (0=never test, 1=test every step, 2=test every other step, default=1)

setNumStepsBetweenCollisionTestInactive

public void setNumStepsBetweenCollisionTestInactive(int numSteps)

Return the number of simulation steps between wheel collision tests when the vehicle is inactive.

Parameters:

numSteps - the desired number of steps (0=never, 1=every step, 2=every other step, default=1)

setVehicleCollisionTester

public void setVehicleCollisionTester(VehicleCollisionTester tester)

Replace the collision tester.

Parameters:

tester - the desired tester (not null, alias created)

onStep

public void onStep(long contextVa)

Callback invoked (by native code) each time the system is stepped.

Specified by:

onStep in interface PhysicsStepListener

Parameters:

contextVa - the virtual address of a PhysicsStepListenerContext PhysicsStepListenerContext (not zero)