223 lines
7.0 KiB
TypeScript
223 lines
7.0 KiB
TypeScript
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import {
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RawImpulseJointSet,
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RawJointAxis,
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RawJointType,
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RawMultibodyJointSet,
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} from "../raw";
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import {
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FixedImpulseJoint,
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ImpulseJointHandle,
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JointType,
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MotorModel,
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PrismaticImpulseJoint,
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RevoluteImpulseJoint,
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} from "./impulse_joint";
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// #if DIM3
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import {Quaternion} from "../math";
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import {SphericalImpulseJoint} from "./impulse_joint";
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// #endif
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/**
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* The integer identifier of a collider added to a `ColliderSet`.
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*/
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export type MultibodyJointHandle = number;
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export class MultibodyJoint {
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protected rawSet: RawMultibodyJointSet; // The MultibodyJoint won't need to free this.
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handle: MultibodyJointHandle;
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constructor(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle) {
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this.rawSet = rawSet;
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this.handle = handle;
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}
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public static newTyped(
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rawSet: RawMultibodyJointSet,
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handle: MultibodyJointHandle,
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): MultibodyJoint {
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switch (rawSet.jointType(handle)) {
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case RawJointType.Revolute:
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return new RevoluteMultibodyJoint(rawSet, handle);
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case RawJointType.Prismatic:
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return new PrismaticMultibodyJoint(rawSet, handle);
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case RawJointType.Fixed:
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return new FixedMultibodyJoint(rawSet, handle);
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// #if DIM3
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case RawJointType.Spherical:
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return new SphericalMultibodyJoint(rawSet, handle);
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// #endif
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default:
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return new MultibodyJoint(rawSet, handle);
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}
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}
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/**
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* Checks if this joint is still valid (i.e. that it has
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* not been deleted from the joint set yet).
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*/
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public isValid(): boolean {
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return this.rawSet.contains(this.handle);
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}
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// /**
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// * The unique integer identifier of the first rigid-body this joint it attached to.
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// */
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// public bodyHandle1(): RigidBodyHandle {
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// return this.rawSet.jointBodyHandle1(this.handle);
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// }
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//
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// /**
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// * The unique integer identifier of the second rigid-body this joint is attached to.
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// */
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// public bodyHandle2(): RigidBodyHandle {
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// return this.rawSet.jointBodyHandle2(this.handle);
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// }
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//
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// /**
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// * The type of this joint given as a string.
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// */
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// public type(): JointType {
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// return this.rawSet.jointType(this.handle);
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// }
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//
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// // #if DIM3
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// /**
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// * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
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// */
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// public frameX1(): Rotation {
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// return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
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// }
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//
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// // #endif
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//
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// // #if DIM3
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// /**
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// * The rotation matrix that aligns this joint's second local axis to the `x` axis.
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// */
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// public frameX2(): Rotation {
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// return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
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// }
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//
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// // #endif
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//
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// /**
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// * The position of the first anchor of this joint.
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// *
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// * The first anchor gives the position of the points application point on the
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// * local frame of the first rigid-body it is attached to.
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// */
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// public anchor1(): Vector {
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// return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
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// }
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//
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// /**
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// * The position of the second anchor of this joint.
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// *
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// * The second anchor gives the position of the points application point on the
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// * local frame of the second rigid-body it is attached to.
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// */
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// public anchor2(): Vector {
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// return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
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// }
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/**
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* Controls whether contacts are computed between colliders attached
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* to the rigid-bodies linked by this joint.
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*/
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public setContactsEnabled(enabled: boolean) {
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this.rawSet.jointSetContactsEnabled(this.handle, enabled);
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}
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/**
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* Indicates if contacts are enabled between colliders attached
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* to the rigid-bodies linked by this joint.
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*/
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public contactsEnabled(): boolean {
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return this.rawSet.jointContactsEnabled(this.handle);
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}
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}
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export class UnitMultibodyJoint extends MultibodyJoint {
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/**
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* The axis left free by this joint.
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*/
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protected rawAxis?(): RawJointAxis;
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// /**
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// * Are the limits enabled for this joint?
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// */
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// public limitsEnabled(): boolean {
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// return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
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// }
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//
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// /**
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// * The min limit of this joint.
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// */
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// public limitsMin(): number {
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// return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
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// }
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//
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// /**
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// * The max limit of this joint.
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// */
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// public limitsMax(): number {
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// return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
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// }
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//
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// public configureMotorModel(model: MotorModel) {
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// this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model);
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// }
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//
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// public configureMotorVelocity(targetVel: number, factor: number) {
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// this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);
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// }
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//
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// public configureMotorPosition(targetPos: number, stiffness: number, damping: number) {
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// this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping);
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// }
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//
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// public configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number) {
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// this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping);
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// }
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}
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export class FixedMultibodyJoint extends MultibodyJoint {}
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export class PrismaticMultibodyJoint extends UnitMultibodyJoint {
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public rawAxis(): RawJointAxis {
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return RawJointAxis.LinX;
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}
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}
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export class RevoluteMultibodyJoint extends UnitMultibodyJoint {
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public rawAxis(): RawJointAxis {
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return RawJointAxis.AngX;
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}
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}
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// #if DIM3
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export class SphericalMultibodyJoint extends MultibodyJoint {
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/* Unsupported by this alpha release.
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public configureMotorModel(model: MotorModel) {
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this.rawSet.jointConfigureMotorModel(this.handle, model);
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}
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public configureMotorVelocity(targetVel: Vector, factor: number) {
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this.rawSet.jointConfigureBallMotorVelocity(this.handle, targetVel.x, targetVel.y, targetVel.z, factor);
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}
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public configureMotorPosition(targetPos: Quaternion, stiffness: number, damping: number) {
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this.rawSet.jointConfigureBallMotorPosition(this.handle, targetPos.w, targetPos.x, targetPos.y, targetPos.z, stiffness, damping);
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}
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public configureMotor(targetPos: Quaternion, targetVel: Vector, stiffness: number, damping: number) {
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this.rawSet.jointConfigureBallMotor(this.handle,
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targetPos.w, targetPos.x, targetPos.y, targetPos.z,
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targetVel.x, targetVel.y, targetVel.z,
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stiffness, damping);
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}
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*/
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}
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// #endif
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