Class MultibodyJointSet

A set of joints.

To avoid leaking WASM resources, this MUST be freed manually with jointSet.free() once you are done using it (and all the joints it created).

Hierarchy

  • MultibodyJointSet

Constructors

constructor

Properties

map raw

Methods

contains createJoint forEach forEachJointHandleAttachedToRigidBody free get getAll len remove unmap

Constructors

constructor

  • Parameters

    • Optional raw: RawMultibodyJointSet

    Returns MultibodyJointSet

Properties

Private map

map: any

raw

raw: RawMultibodyJointSet

Methods

contains

  • Does this set contain a joint with the given handle?

    Parameters

    • handle: number

      The joint handle to check.

    Returns boolean

createJoint

  • Creates a new joint and return its integer handle.

    Parameters

    • desc: JointData

      The joint's parameters.

    • parent1: number

      The handle of the first rigid-body this joint is attached to.

    • parent2: number

      The handle of the second rigid-body this joint is attached to.

    • wakeUp: boolean

      Should the attached rigid-bodies be awakened?

    Returns MultibodyJoint

forEach

  • Applies the given closure to each joint contained by this set.

    Parameters

    Returns void

forEachJointHandleAttachedToRigidBody

  • Calls the given closure with the integer handle of each multibody joint attached to this rigid-body.

    Parameters

    • handle: number
    • f: ((handle: number) => void)

      The closure called with the integer handle of each multibody joint attached to the rigid-body.

        • (handle: number): void

        • Parameters

          • handle: number

          Returns void

    Returns void

free

  • Release the WASM memory occupied by this joint set.

    Returns void

get

  • Gets the joint with the given handle.

    Returns null if no joint with the specified handle exists.

    Parameters

    • handle: number

      The integer handle of the joint to retrieve.

    Returns MultibodyJoint

getAll

  • Gets all joints in the list.

    Returns

    joint list.

    Returns MultibodyJoint[]

len

  • The number of joints on this set.

    Returns number

remove

  • Remove a joint from this set.

    Parameters

    • handle: number

      The integer handle of the joint.

    • wake_up: boolean

      If true, the rigid-bodies attached by the removed joint will be woken-up automatically.

    Returns void

unmap

  • Internal function, do not call directly.

    Parameters

    • handle: number

    Returns void

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