us.ihmc.scs2.simulation.bullet.physicsEngine.parameters.BulletMultiBodyJointParameters Maven / Gradle / Ivy

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package us.ihmc.scs2.simulation.bullet.physicsEngine.parameters;

public class BulletMultiBodyJointParameters
{
   private boolean jointDisableParentCollision;
   private double jointFriction;
   private double jointRestitution;
   private double jointHitFraction;
   private double jointRollingFriction;
   private double jointSpinningFriction;
   private double jointContactProcessingThreshold;

   public static BulletMultiBodyJointParameters defaultBulletMultiBodyJointParameters()
   {
      BulletMultiBodyJointParameters bulletMultiBodyJointParameters = new BulletMultiBodyJointParameters();
      bulletMultiBodyJointParameters.setJointDisableParentCollision(true);
      bulletMultiBodyJointParameters.setJointFriction(0.5);
      bulletMultiBodyJointParameters.setJointRestitution(0.0);
      bulletMultiBodyJointParameters.setJointHitFraction(1.0);
      bulletMultiBodyJointParameters.setJointRollingFriction(0.0);
      bulletMultiBodyJointParameters.setJointSpinningFriction(0.0);

      //The constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
      //Note: that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
      //Note: when this parameter is set to zero, the simulation doesn't work well - need to investigate further what this should be defaulted as
      bulletMultiBodyJointParameters.setJointContactProcessingThreshold(1.0E30);
      return bulletMultiBodyJointParameters;
   }

   public BulletMultiBodyJointParameters()
   {
   }

   public BulletMultiBodyJointParameters(boolean jointDisableParentCollision,
                                         double jointFriction,
                                         double jointRestitution,
                                         double jointHitFration,
                                         double jointRollingFriction,
                                         double jointSpinningFriction,
                                         double jointContactProcessingThreshold)
   {
      this.jointDisableParentCollision = jointDisableParentCollision;
      this.jointFriction = jointFriction;
      this.jointRestitution = jointRestitution;
      this.jointHitFraction = jointHitFration;
      this.jointRollingFriction = jointRollingFriction;
      this.jointSpinningFriction = jointSpinningFriction;
      this.jointContactProcessingThreshold = jointContactProcessingThreshold;
   }

   public void setJointDisableParentCollision(boolean jointDisableParentCollision)
   {
      this.jointDisableParentCollision = jointDisableParentCollision;
   }

   public void setJointFriction(double jointFriction)
   {
      this.jointFriction = jointFriction;
   }

   public void setJointRestitution(double jointRestitution)
   {
      this.jointRestitution = jointRestitution;
   }

   public void setJointHitFraction(double jointHitFraction)
   {
      this.jointHitFraction = jointHitFraction;
   }

   public void setJointRollingFriction(double jointRollingFriction)
   {
      this.jointRollingFriction = jointRollingFriction;
   }

   public void setJointSpinningFriction(double jointSpinningFriction)
   {
      this.jointSpinningFriction = jointSpinningFriction;
   }

   public void setJointContactProcessingThreshold(double jointContactProcessingThreshold)
   {
      this.jointContactProcessingThreshold = jointContactProcessingThreshold;
   }

   public boolean getJointDisableParentCollision()
   {
      return jointDisableParentCollision;
   }

   public double getJointFriction()
   {
      return jointFriction;
   }

   public double getJointRestitution()
   {
      return jointRestitution;
   }

   public double getJointHitFraction()
   {
      return jointHitFraction;
   }

   public double getJointRollingFriction()
   {
      return jointRollingFriction;
   }

   public double getJointSpinningFriction()
   {
      return jointSpinningFriction;
   }

   public double getJointContactProcessingThreshold()
   {
      return jointContactProcessingThreshold;
   }
}