com.bulletphysics.dynamics.RigidBodyConstructionInfo Maven / Gradle / Ivy
Show all versions of jbullet Show documentation
/*
* Java port of Bullet (c) 2008 Martin Dvorak
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
*
* This software is provided 'as-is', without any express or implied warranty.
* In no event will the authors be held liable for any damages arising from
* the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
package com.bulletphysics.dynamics;
import com.bulletphysics.BulletGlobals;
import com.bulletphysics.collision.shapes.CollisionShape;
import com.bulletphysics.linearmath.MotionState;
import com.bulletphysics.linearmath.Transform;
import javax.vecmath.Vector3f;
/**
* RigidBodyConstructionInfo provides information to create a rigid body.
*
* Setting mass to zero creates a fixed (non-dynamic) rigid body. For dynamic objects,
* you can use the collision shape to approximate the local inertia tensor, otherwise
* use the zero vector (default argument).
*
* You can use {@link MotionState} to synchronize the world transform
* between physics and graphics objects. And if the motion state is provided, the rigid
* body will initialize its initial world transform from the motion state,
* {@link #startWorldTransform startWorldTransform} is only used when you don't provide
* a motion state.
*
* @author jezek2
*/
public class RigidBodyConstructionInfo {
public float mass;
/**
* When a motionState is provided, the rigid body will initialize its world transform
* from the motion state. In this case, startWorldTransform is ignored.
*/
public MotionState motionState;
public final Transform startWorldTransform = new Transform();
public CollisionShape collisionShape;
public final Vector3f localInertia = new Vector3f();
public float linearDamping = 0f;
public float angularDamping = 0f;
/** Best simulation results when friction is non-zero. */
public float friction = 0.5f;
/** Best simulation results using zero restitution. */
public float restitution = 0f;
public float linearSleepingThreshold = 0.8f;
public float angularSleepingThreshold = 1.0f;
/**
* Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
* Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics
* system has improved, this should become obsolete.
*/
public boolean additionalDamping = false;
public float additionalDampingFactor = 0.005f;
public float additionalLinearDampingThresholdSqr = 0.01f;
public float additionalAngularDampingThresholdSqr = 0.01f;
public float additionalAngularDampingFactor = 0.01f;
public RigidBodyConstructionInfo(float mass, MotionState motionState, CollisionShape collisionShape) {
this(mass, motionState, collisionShape, new Vector3f(0f, 0f, 0f));
}
public RigidBodyConstructionInfo(float mass, MotionState motionState, CollisionShape collisionShape, Vector3f localInertia) {
this.mass = mass;
this.motionState = motionState;
this.collisionShape = collisionShape;
this.localInertia.set(localInertia);
startWorldTransform.setIdentity();
}
}