net.java.dev.joode.joint
Class JointLimitMotor

java.lang.Object
  net.java.dev.joode.joint.JointLimitMotor

All Implemented Interfaces:

java.io.Serializable, SimState

public class JointLimitMotor
extends java.lang.Object
implements SimState

See Also:

Serialized Form

Field Summary

float	bounce
float	fmax
float	fudge_factor
float	histop
int	limit
float	limit_err
float	lostop
float	normal_cfm
float	stop_cfm
float	stop_erp
float	vel

Constructor Summary

JointLimitMotor()

Method Summary

boolean	addLimot(Joint joint, Joint.Info2 info, int row, Vector3 ax1, boolean rotational) writes the constraint equation of this limit onto the specified row
SimState	cloneState(ClonedReferences util) deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object.
void	init(World world)
boolean	testRotationalLimit(float angle)

Methods inherited from class java.lang.Object

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

Field Detail

vel

public float vel

fmax

public float fmax

lostop

public float lostop

histop

public float histop

fudge_factor

public float fudge_factor

normal_cfm

public float normal_cfm

stop_erp

public float stop_erp

stop_cfm

public float stop_cfm

bounce

public float bounce

limit

public int limit

limit_err

public float limit_err

Constructor Detail

JointLimitMotor

public JointLimitMotor()

Method Detail

init

public void init(World world)

testRotationalLimit

public boolean testRotationalLimit(float angle)

addLimot

public boolean addLimot(Joint joint,
                        Joint.Info2 info,
                        int row,
                        Vector3 ax1,
                        boolean rotational)

writes the constraint equation of this limit onto the specified row

Returns:

cloneState

public SimState cloneState(ClonedReferences util)

Description copied from interface: SimState

deep clones the state object, any references to other SimState objects should be cloned and assigned to the clone via the ClonedReferences util object. The util object ensures that multiple clones of the same object are not performed during a clone operation.

Specified by:

cloneState in interface SimState

Parameters:

util - instanciate a new one if top level cloning