Class MotionControllerBase

java.lang.Object

com.hypixel.hytale.server.npc.movement.controllers.MotionControllerBase

All Implemented Interfaces:

MotionController, DebugSupport.DebugFlagsChangeListener

Direct Known Subclasses:

MotionControllerDive, MotionControllerFly, MotionControllerWalk

public abstract class MotionControllerBase
extends Object
implements MotionController

Nested Class Summary

Nested classes/interfaces inherited from interface MotionController

MotionController.VerticalRange

Field Summary

Fields

Modifier and Type	Field	Description
static final double	BISECT_DIST
static final boolean	DEBUG_APPLIED_FORCES
static final double	DEFAULT_BLOCK_DRAG
static final double	DOT_PRODUCT_EPSILON
static final double	FILTER_COEFFICIENT
static final double	FORCE_SCALE

Constructor Summary

Constructors

Constructor	Description
MotionControllerBase(BuilderSupport builderSupport, BuilderMotionControllerBase builder)

Method Summary

Modifier and Type	Method	Description
void	activate()
void	addVelocity(org.joml.Vector3d velocity, VelocityConfig velocityConfig, float preMultiplier)
void	applyRailStep(Ref<EntityStore> ref, Role role, org.joml.Vector3dc translation, RailStepConfig config, RailStepResult result, ComponentAccessor<EntityStore> componentAccessor)	Apply a "rail-mode" step: translates the entity by translation without running the normal physics pipeline (no gravity, no speed caps, no appliedVelocities).
void	beforeInstructionMotion(double physicsTickDuration)
void	beforeInstructionSensorsAndActions(double physicsTickDuration)
<T> double	bisect(org.joml.Vector3d validPosition, org.joml.Vector3d invalidPosition, T t, BiPredicate<T, org.joml.Vector3d> validate, double maxDistance, org.joml.Vector3d result)	Find valid movement position using recursive midpoint testing between (valid) initial position and (invalid) computed position
<T> double	bisect(org.joml.Vector3d validPosition, org.joml.Vector3d invalidPosition, T t, BiPredicate<T, org.joml.Vector3d> validate, org.joml.Vector3d result)	Find valid movement position using recursive midpoint testing between (valid) initial position and (invalid) computed position
boolean	canSteer(Ref<EntityStore> ref, ComponentAccessor<EntityStore> componentAccessor)
String	canSteerFailReason(Ref<EntityStore> ref, ComponentAccessor<EntityStore> componentAccessor)	If MotionController.canSteer(Ref, ComponentAccessor) returns false, this method can be called to get a human-readable reason for why the motion controller cannot steer.
void	clearBlendHeading()
void	clearExternalForces()	Clears all external force/knockback velocities currently tracked by this motion controller.
void	clearExternalVelocity()
void	clearRequirePreciseMovement()
void	deactivate()
void	enableHeadingBlending()
void	enableHeadingBlending(double heading, org.joml.Vector3d targetPosition, double blendLevel)
Box	getCollisionBoundingBox()
double	getCombinedExternalVelocityLength()
org.joml.Vector3d	getComponentSelector()
float	getEpsilonAngle()
double	getEpsilonSpeed()
org.joml.Vector3d	getExternalVelocity()	Returns only the controller's external velocity accumulator.
double	getGravity()
int	getInvalidOverlapMaterials()
MotionKind	getMotionKind()
NavState	getNavState()
float	getPitch()
org.joml.Vector3d	getPlanarComponentSelector()
EnumSet<RelaxedConstraint>	getRelaxedConstraints()
Role	getRole()
float	getRoll()
double	getTargetDeltaSquared()
double	getThrottleDuration()
org.joml.Vector3dc	getWorldAntiNormal()
org.joml.Vector3dc	getWorldNormal()
float	getYaw()
boolean	isAvoidingBlockDamage()
boolean	isForcePushed()
boolean	isForceRecomputePath()
boolean	isHorizontalIdle(double speed)
boolean	isInProgress()
boolean	isMovementBlocked(Ref<EntityStore> ref, ComponentAccessor<EntityStore> componentAccessor)
boolean	isObstructed()
boolean	isProcessTriggersHasMoved()
boolean	isRequiresPreciseMovement()
boolean	isValidPosition(org.joml.Vector3dc position, ComponentAccessor<EntityStore> componentAccessor)
boolean	isValidPosition(org.joml.Vector3dc position, CollisionResult collisionResult, ComponentAccessor<EntityStore> componentAccessor)
void	moveEntity(Ref<EntityStore> ref, double dt, ComponentAccessor<EntityStore> componentAccessor)
void	onDebugFlagsChanged(EnumSet<RoleDebugFlags> newFlags)
void	postReadPosition(Ref<EntityStore> ref, ComponentAccessor<EntityStore> componentAccessor)
org.joml.Vector3d	preScaleKnockback(org.joml.Vector3dc velocity)
double	probeMove(Ref<EntityStore> ref, org.joml.Vector3dc position, org.joml.Vector3dc direction, ProbeMoveData probeMoveData, ComponentAccessor<EntityStore> componentAccessor)
void	processTriggers(Ref<EntityStore> ref, CollisionResult collisionResult, double t, ComponentAccessor<EntityStore> componentAccessor)
void	requirePreciseMovement(org.joml.Vector3d positionHint)
void	resetNavState()
void	resetObstructedFlags()
void	setComponentSelector(org.joml.Vector3d componentSelector)
void	setDebugEntityId(int entityId)
void	setEnableBlockDamage(boolean enableBlockDamage)
void	setEnableTriggers(boolean enableTriggers)
void	setForceRecomputePath(boolean recomputePath)
void	setGravity(double gravity)
void	setHeadPitchAngleRange(float[] headPitchAngleRange)
void	setInertia(double inertia)
void	setKnockbackScale(double knockbackScale)
void	setMotionKind(MotionKind motionKind)
void	setNavState(NavState navState, double throttleDuration, double targetDeltaSquared)
void	setRelaxedMoveConstraints(EnumSet<RelaxedConstraint> constraints)
void	setRole(Role role)
void	setUseFixedKnockback(boolean useFixedKnockback)
void	setVelocity(org.joml.Vector3dc velocity, VelocityConfig velocityConfig, boolean ignoreDamping)
void	setVelocity(org.joml.Vector3dc velocity, VelocityConfig velocityConfig, boolean ignoreDamping, float preMultiplier)
boolean	standingOnBlockOfType(int blockSet)
double	steer(Ref<EntityStore> ref, Role role, Steering bodySteering, Steering headSteering, double interval, ComponentAccessor<EntityStore> componentAccessor)	Compute velocity vector from steering and move entity.
double	steer0(Ref<EntityStore> ref, Role role, Steering bodySteering, Steering headSteering, double interval, ComponentAccessor<EntityStore> componentAccessor)
boolean	touchesWater(boolean defaultValue, ComponentAccessor<EntityStore> componentAccessor)	Determines whether the entity associated with this motion controller is touching water.
boolean	translateToAccessiblePosition(org.joml.Vector3d position, Box boundingBox, double minYValue, double maxYValue, ComponentAccessor<EntityStore> componentAccessor)
void	updateModelParameters(Ref<EntityStore> ref, Model model, Box boundingBox, ComponentAccessor<EntityStore> componentAccessor)
void	updateMovementState(Ref<EntityStore> ref, MovementStates movementStates, Steering steering, org.joml.Vector3d velocity, ComponentAccessor<EntityStore> componentAccessor)
void	updatePhysicsValues(PhysicsValues values)
double	waypointDistance(Ref<EntityStore> ref, org.joml.Vector3d p, ComponentAccessor<EntityStore> componentAccessor)
double	waypointDistance(org.joml.Vector3dc p, org.joml.Vector3dc q)
double	waypointDistanceSquared(Ref<EntityStore> ref, org.joml.Vector3d p, ComponentAccessor<EntityStore> componentAccessor)
double	waypointDistanceSquared(org.joml.Vector3dc p, org.joml.Vector3dc q)
boolean	willReceiveBlockDamage()

Methods inherited from class Object

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

Methods inherited from interface MotionController

addVelocity, canRestAtPlace, clearOverrides, constrainRotations, estimateVelocity, getCurrentMaxBodyRotationSpeed, getCurrentSpeed, getCurrentTurnRadius, getDefaultSpawnMovementModes, getDesiredAltitudeWeight, getDesiredVerticalRange, getHeightOverGround, getMaxClimbAngle, getMaxClimbHeight, getMaxDropHeight, getMaximumSpeed, getMaxSinkAngle, getSquaredDistance, getSupportedMovementModes, getType, getWanderVerticalMovementRatio, inAir, inWater, is2D, matchesType, onGround, probeMove, spawned

Field Details

FORCE_SCALE

public static final double FORCE_SCALE

See Also:

• Constant Field Values

BISECT_DIST

public static final double BISECT_DIST

See Also:

• Constant Field Values

FILTER_COEFFICIENT

public static final double FILTER_COEFFICIENT

See Also:

• Constant Field Values

DOT_PRODUCT_EPSILON

public static final double DOT_PRODUCT_EPSILON

See Also:

• Constant Field Values

DEFAULT_BLOCK_DRAG

public static final double DEFAULT_BLOCK_DRAG

See Also:

• Constant Field Values

DEBUG_APPLIED_FORCES

public static final boolean DEBUG_APPLIED_FORCES

See Also:

• Constant Field Values

Constructor Details

MotionControllerBase

public MotionControllerBase(@Nonnull
 BuilderSupport builderSupport,
 @Nonnull
 BuilderMotionControllerBase builder)

Method Details

getRole

@Nonnull
public Role getRole()

Specified by:

getRole in interface MotionController

setRole

public void setRole(@Nonnull
 Role role)

Specified by:

setRole in interface MotionController

setDebugEntityId

public void setDebugEntityId(int entityId)

Specified by:

setDebugEntityId in interface MotionController

setInertia

public void setInertia(double inertia)

Specified by:

setInertia in interface MotionController

setKnockbackScale

public void setKnockbackScale(double knockbackScale)

Specified by:

setKnockbackScale in interface MotionController

setUseFixedKnockback

public void setUseFixedKnockback(boolean useFixedKnockback)

Specified by:

setUseFixedKnockback in interface MotionController

updateModelParameters

public void updateModelParameters(Ref<EntityStore> ref,
 Model model,
 @Nonnull
 Box boundingBox,
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

updateModelParameters in interface MotionController

setHeadPitchAngleRange

public void setHeadPitchAngleRange(float[] headPitchAngleRange)

Specified by:

setHeadPitchAngleRange in interface MotionController

postReadPosition

public void postReadPosition(Ref<EntityStore> ref,
 ComponentAccessor<EntityStore> componentAccessor)

moveEntity

public void moveEntity(@Nonnull
 Ref<EntityStore> ref,
 double dt,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

getYaw

public float getYaw()

getPitch

public float getPitch()

getRoll

public float getRoll()

touchesWater

public boolean touchesWater(boolean defaultValue,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Determines whether the entity associated with this motion controller is touching water.

Parameters:

defaultValue - The default value to return if the chunk is not loaded.

componentAccessor - The ComponentAccessor<EntityStore> for component access.

Returns:

true if the entity is touching water, false otherwise.

updateMovementState

public void updateMovementState(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 MovementStates movementStates,
 @Nonnull
 Steering steering,
 @Nonnull
 org.joml.Vector3d velocity,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

updateMovementState in interface MotionController

steer

public double steer(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 Role role,
 @Nonnull
 Steering bodySteering,
 @Nonnull
 Steering headSteering,
 double interval,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Description copied from interface: MotionController

Compute velocity vector from steering and move entity.

Might do partial move when entity gets blocked. Time remaining to simulate is returned in this case else value <=0.

Specified by:

steer in interface MotionController

Parameters:

ref - The index of the NPC entity

role - The NPC role

bodySteering - Desired body steering to perform

headSteering - Desired head steering to perform

interval - Time interval to compute movement

componentAccessor - The archetype chunk of this tick

Returns:

Time interval left to simulate when motion was blocked.

steer0

public double steer0(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 Role role,
 @Nonnull
 Steering bodySteering,
 @Nonnull
 Steering headSteering,
 double interval,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

probeMove

public double probeMove(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 org.joml.Vector3dc position,
 @Nonnull
 org.joml.Vector3dc direction,
 @Nonnull
 ProbeMoveData probeMoveData,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

probeMove in interface MotionController

applyRailStep

public void applyRailStep(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 Role role,
 @Nonnull
 org.joml.Vector3dc translation,
 @Nonnull
 RailStepConfig config,
 @Nonnull
 RailStepResult result,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Description copied from interface: MotionController

Apply a "rail-mode" step: translates the entity by translation without running the normal physics pipeline (no gravity, no speed caps, no appliedVelocities). Block collisions that do not match RailStepConfig.ignoredBlockFilter clamp the motion and flag the controller as obstructed. Filter-rejected blocks and (when RailStepConfig.candidateEntities is non-null) entity hits are reported back via result. Triggers / damage blocks still fire through the normal pipeline.

Specified by:

applyRailStep in interface MotionController

Parameters:

ref - the NPC entity reference.

role - the NPC role.

translation - requested world-space translation for this step.

config - per-step configuration, owned by the caller.

result - output carrier for obstruction / pass-through / entity hits, cleared by this method.

componentAccessor - component accessor for this tick.

isInProgress

public boolean isInProgress()

Specified by:

isInProgress in interface MotionController

isObstructed

public boolean isObstructed()

Specified by:

isObstructed in interface MotionController

getNavState

public NavState getNavState()

Specified by:

getNavState in interface MotionController

getThrottleDuration

public double getThrottleDuration()

Specified by:

getThrottleDuration in interface MotionController

getTargetDeltaSquared

public double getTargetDeltaSquared()

Specified by:

getTargetDeltaSquared in interface MotionController

setNavState

public void setNavState(NavState navState,
 double throttleDuration,
 double targetDeltaSquared)

Specified by:

setNavState in interface MotionController

isForceRecomputePath

public boolean isForceRecomputePath()

Specified by:

isForceRecomputePath in interface MotionController

setForceRecomputePath

public void setForceRecomputePath(boolean recomputePath)

Specified by:

setForceRecomputePath in interface MotionController

beforeInstructionSensorsAndActions

public void beforeInstructionSensorsAndActions(double physicsTickDuration)

Specified by:

beforeInstructionSensorsAndActions in interface MotionController

beforeInstructionMotion

public void beforeInstructionMotion(double physicsTickDuration)

Specified by:

beforeInstructionMotion in interface MotionController

isHorizontalIdle

public boolean isHorizontalIdle(double speed)

isForcePushed

public boolean isForcePushed()

Specified by:

isForcePushed in interface MotionController

Returns:

true when an external velocity source (knockback, applied velocity, etc.) is currently acting on the controller, so callers that own per-tick motion can hand control back to the regular steer pipeline.

canSteer

public boolean canSteer(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

canSteer in interface MotionController

canSteerFailReason

@Nullable
public String canSteerFailReason(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Description copied from interface: MotionController

If MotionController.canSteer(Ref, ComponentAccessor) returns false, this method can be called to get a human-readable reason for why the motion controller cannot steer.

Specified by:

canSteerFailReason in interface MotionController

Parameters:

ref - NPC entity reference

componentAccessor - Accessor to get components of the NPC entity

Returns:

A human-readable reason for why the motion controller cannot steer, or null if the motion controller can steer

isMovementBlocked

public boolean isMovementBlocked(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

bisect

public <T> double bisect(@Nonnull
 org.joml.Vector3d validPosition,
 @Nonnull
 org.joml.Vector3d invalidPosition,
 @Nonnull
 T t,
 @Nonnull
 BiPredicate<T, org.joml.Vector3d> validate,
 @Nonnull
 org.joml.Vector3d result)

Find valid movement position using recursive midpoint testing between (valid) initial position and (invalid) computed position

Parameters:

validPosition - Start position (should be valid)

invalidPosition - Computed new position (should be invalid)

validate - Predicate returning true if a position is valid or false if invalid

result - Computed valid result

Returns:

Returns factor so that result is lerp(factor, valid, invalid)

bisect

public <T> double bisect(@Nonnull
 org.joml.Vector3d validPosition,
 @Nonnull
 org.joml.Vector3d invalidPosition,
 @Nonnull
 T t,
 @Nonnull
 BiPredicate<T, org.joml.Vector3d> validate,
 double maxDistance,
 @Nonnull
 org.joml.Vector3d result)

Find valid movement position using recursive midpoint testing between (valid) initial position and (invalid) computed position

Parameters:

validPosition - Start position (should be valid)

invalidPosition - Computed new position (should be invalid)

validate - Predicate returning true if a position is valid or false if invalid

maxDistance - Bisection stops when maximum error between valid and invalid position is less than distance

result - Computed valid result

Returns:

Returns factor so that result is lerp(factor, valid, invalid)

getExternalVelocity

@Nonnull
public org.joml.Vector3d getExternalVelocity()

Description copied from interface: MotionController

Returns only the controller's external velocity accumulator.

This intentionally excludes split/applied velocities.

Specified by:

getExternalVelocity in interface MotionController

getCombinedExternalVelocityLength

public double getCombinedExternalVelocityLength()

Specified by:

getCombinedExternalVelocityLength in interface MotionController

Returns:

Length of the vector sum of forceVelocity and all active applied velocities.

clearExternalForces

public void clearExternalForces()

Description copied from interface: MotionController

Clears all external force/knockback velocities currently tracked by this motion controller.

Specified by:

clearExternalForces in interface MotionController

addVelocity

public void addVelocity(@Nonnull
 org.joml.Vector3d velocity,
 VelocityConfig velocityConfig,
 float preMultiplier)

Specified by:

addVelocity in interface MotionController

preScaleKnockback

public org.joml.Vector3d preScaleKnockback(@Nonnull
 org.joml.Vector3dc velocity)

Specified by:

preScaleKnockback in interface MotionController

setVelocity

public void setVelocity(@Nonnull
 org.joml.Vector3dc velocity,
 @Nullable
 VelocityConfig velocityConfig,
 boolean ignoreDamping)

Specified by:

setVelocity in interface MotionController

setVelocity

public void setVelocity(@Nonnull
 org.joml.Vector3dc velocity,
 @Nullable
 VelocityConfig velocityConfig,
 boolean ignoreDamping,
 float preMultiplier)

Specified by:

setVelocity in interface MotionController

clearExternalVelocity

public void clearExternalVelocity()

setEnableTriggers

public void setEnableTriggers(boolean enableTriggers)

setEnableBlockDamage

public void setEnableBlockDamage(boolean enableBlockDamage)

willReceiveBlockDamage

public boolean willReceiveBlockDamage()

Specified by:

willReceiveBlockDamage in interface MotionController

isAvoidingBlockDamage

public boolean isAvoidingBlockDamage()

Specified by:

isAvoidingBlockDamage in interface MotionController

processTriggers

public void processTriggers(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 CollisionResult collisionResult,
 double t,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

isProcessTriggersHasMoved

public boolean isProcessTriggersHasMoved()

onDebugFlagsChanged

public void onDebugFlagsChanged(EnumSet<RoleDebugFlags> newFlags)

Specified by:

onDebugFlagsChanged in interface DebugSupport.DebugFlagsChangeListener

Specified by:

onDebugFlagsChanged in interface MotionController

activate

public void activate()

Specified by:

activate in interface MotionController

resetNavState

public void resetNavState()

resetObstructedFlags

public void resetObstructedFlags()

deactivate

public void deactivate()

Specified by:

deactivate in interface MotionController

getEpsilonSpeed

public double getEpsilonSpeed()

getEpsilonAngle

public float getEpsilonAngle()

getComponentSelector

@Nonnull
public org.joml.Vector3d getComponentSelector()

Specified by:

getComponentSelector in interface MotionController

getPlanarComponentSelector

@Nonnull
public org.joml.Vector3d getPlanarComponentSelector()

Specified by:

getPlanarComponentSelector in interface MotionController

setComponentSelector

public void setComponentSelector(@Nonnull
 org.joml.Vector3d componentSelector)

Specified by:

setComponentSelector in interface MotionController

getWorldNormal

public org.joml.Vector3dc getWorldNormal()

Specified by:

getWorldNormal in interface MotionController

getWorldAntiNormal

public org.joml.Vector3dc getWorldAntiNormal()

Specified by:

getWorldAntiNormal in interface MotionController

waypointDistance

public double waypointDistance(@Nonnull
 org.joml.Vector3dc p,
 @Nonnull
 org.joml.Vector3dc q)

Specified by:

waypointDistance in interface MotionController

waypointDistanceSquared

public double waypointDistanceSquared(@Nonnull
 org.joml.Vector3dc p,
 @Nonnull
 org.joml.Vector3dc q)

Specified by:

waypointDistanceSquared in interface MotionController

waypointDistance

public double waypointDistance(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 org.joml.Vector3d p,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

waypointDistance in interface MotionController

waypointDistanceSquared

public double waypointDistanceSquared(@Nonnull
 Ref<EntityStore> ref,
 @Nonnull
 org.joml.Vector3d p,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

waypointDistanceSquared in interface MotionController

isValidPosition

public boolean isValidPosition(@Nonnull
 org.joml.Vector3dc position,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

isValidPosition in interface MotionController

isValidPosition

public boolean isValidPosition(@Nonnull
 org.joml.Vector3dc position,
 @Nonnull
 CollisionResult collisionResult,
 @Nonnull
 ComponentAccessor<EntityStore> componentAccessor)

getInvalidOverlapMaterials

public int getInvalidOverlapMaterials()

getMotionKind

public MotionKind getMotionKind()

setMotionKind

public void setMotionKind(MotionKind motionKind)

getGravity

public double getGravity()

Specified by:

getGravity in interface MotionController

setGravity

public void setGravity(double gravity)

translateToAccessiblePosition

public boolean translateToAccessiblePosition(org.joml.Vector3d position,
 Box boundingBox,
 double minYValue,
 double maxYValue,
 ComponentAccessor<EntityStore> componentAccessor)

Specified by:

translateToAccessiblePosition in interface MotionController

getCollisionBoundingBox

@Nonnull
public Box getCollisionBoundingBox()

Specified by:

getCollisionBoundingBox in interface MotionController

standingOnBlockOfType

public boolean standingOnBlockOfType(int blockSet)

Specified by:

standingOnBlockOfType in interface MotionController

requirePreciseMovement

public void requirePreciseMovement(@Nullable
 org.joml.Vector3d positionHint)

Specified by:

requirePreciseMovement in interface MotionController

clearRequirePreciseMovement

public void clearRequirePreciseMovement()

isRequiresPreciseMovement

public boolean isRequiresPreciseMovement()

enableHeadingBlending

public void enableHeadingBlending(double heading,
 @Nullable
 org.joml.Vector3d targetPosition,
 double blendLevel)

Specified by:

enableHeadingBlending in interface MotionController

enableHeadingBlending

public void enableHeadingBlending()

Specified by:

enableHeadingBlending in interface MotionController

clearBlendHeading

public void clearBlendHeading()

setRelaxedMoveConstraints

public void setRelaxedMoveConstraints(@Nonnull
 EnumSet<RelaxedConstraint> constraints)

Specified by:

setRelaxedMoveConstraints in interface MotionController

getRelaxedConstraints

@Nonnull
public EnumSet<RelaxedConstraint> getRelaxedConstraints()

Specified by:

getRelaxedConstraints in interface MotionController

updatePhysicsValues

public void updatePhysicsValues(PhysicsValues values)

Specified by:

updatePhysicsValues in interface MotionController