com.badlogic.gdx.physics.bullet.dynamics

Class btMultiBody

java.lang.Object

com.badlogic.gdx.physics.bullet.BulletBase

com.badlogic.gdx.physics.bullet.dynamics.btMultiBody

All Implemented Interfaces:

Disposable

public class btMultiBody
extends BulletBase

Field Summary

Fields inherited from class com.badlogic.gdx.physics.bullet.BulletBase

className

Constructor Summary

Constructors

Constructor and Description
btMultiBody(int n_links, float mass, Vector3 inertia, boolean fixedBase, boolean canSleep)
btMultiBody(int n_links, float mass, Vector3 inertia, boolean fixedBase, boolean canSleep, boolean deprecatedMultiDof)
btMultiBody(long cPtr, boolean cMemoryOwn) Construct a new btMultiBody, normally you should not need this constructor it's intended for low-level usage.

Method Summary

Modifier and Type	Method and Description
void	addBaseConstraintForce(Vector3 f)
void	addBaseConstraintTorque(Vector3 t)
void	addBaseForce(Vector3 f)
void	addBaseTorque(Vector3 t)
void	addJointTorque(int i, float Q)
void	addJointTorqueMultiDof(int i, FloatBuffer Q)
void	addJointTorqueMultiDof(int i, int dof, float Q)
void	addLinkConstraintForce(int i, Vector3 f)
void	addLinkConstraintTorque(int i, Vector3 t)
void	addLinkForce(int i, Vector3 f)
void	addLinkTorque(int i, Vector3 t)
void	applyDeltaVeeMultiDof(FloatBuffer delta_vee, float multiplier)
void	applyDeltaVeeMultiDof2(FloatBuffer delta_vee, float multiplier)
void	calcAccelerationDeltasMultiDof(FloatBuffer force, FloatBuffer output, btScalarArray scratch_r, btVector3Array scratch_v)
int	calculateSerializeBufferSize()
void	checkMotionAndSleepIfRequired(float timestep)
void	clearConstraintForces()
void	clearForcesAndTorques()
void	clearVelocities()
void	compTreeLinkVelocities(btVector3 omega, btVector3 vel)
void	computeAccelerationsArticulatedBodyAlgorithmMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
void	computeAccelerationsArticulatedBodyAlgorithmMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m, boolean isConstraintPass)
void	fillConstraintJacobianMultiDof(int link, Vector3 contact_point, Vector3 normal_ang, Vector3 normal_lin, FloatBuffer jac, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
void	fillContactJacobianMultiDof(int link, Vector3 contact_point, Vector3 normal, FloatBuffer jac, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
void	finalizeMultiDof()
void	forwardKinematics(SWIGTYPE_p_btAlignedObjectArrayT_btQuaternion_t scratch_q, btVector3Array scratch_m)
float	getAngularDamping()
Vector3	getAngularMomentum()
btMultiBodyLinkCollider	getBaseCollider()
btMultiBodyLinkCollider	getBaseColliderConst()
Vector3	getBaseForce()
Vector3	getBaseInertia()
float	getBaseMass()
String	getBaseName()
Vector3	getBaseOmega()
Vector3	getBasePos()
Vector3	getBaseTorque()
Vector3	getBaseVel()
Matrix4	getBaseWorldTransform()
boolean	getCanSleep()
int	getCompanionId()
static long	getCPtr(btMultiBody obj)
float	getJointPos(int i)
FloatBuffer	getJointPosMultiDof(int i)
FloatBuffer	getJointPosMultiDofConst(int i)
float	getJointTorque(int i)
FloatBuffer	getJointTorqueMultiDof(int i)
float	getJointVel(int i)
FloatBuffer	getJointVelMultiDof(int i)
FloatBuffer	getJointVelMultiDofConst(int i)
float	getKineticEnergy()
float	getLinearDamping()
btMultibodyLink	getLink(int index)
btMultiBodyLinkCollider	getLinkCollider(int index)
btMultibodyLink	getLinkConst(int index)
Vector3	getLinkForce(int i)
Vector3	getLinkInertia(int i)
float	getLinkMass(int i)
Vector3	getLinkTorque(int i)
float	getMaxAppliedImpulse()
float	getMaxCoordinateVelocity()
int	getNumDofs()
int	getNumLinks()
int	getNumPosVars()
int	getParent(int link_num)
Quaternion	getParentToLocalRot(int i)
Vector3	getRVector(int i)
boolean	getUseGyroTerm()
int	getUserIndex()
int	getUserIndex2()
long	getUserPointer()
FloatBuffer	getVelocityVector()
Quaternion	getWorldToBaseRot()
void	goToSleep()
boolean	hasFixedBase()
boolean	hasSelfCollision()
boolean	internalNeedsJointFeedback()
boolean	isAwake()
boolean	isPosUpdated()
boolean	isUsingGlobalVelocities()
boolean	isUsingRK4Integration()
Vector3	localDirToWorld(int i, Vector3 vec)
Matrix3	localFrameToWorld(int i, Matrix3 mat)
Vector3	localPosToWorld(int i, Vector3 vec)
void	operatorDelete(long ptr)
void	operatorDelete(long arg0, long arg1)
void	operatorDeleteArray(long ptr)
void	operatorDeleteArray(long arg0, long arg1)
long	operatorNew(long sizeInBytes)
long	operatorNew(long arg0, long ptr)
long	operatorNewArray(long sizeInBytes)
long	operatorNewArray(long arg0, long ptr)
void	processDeltaVeeMultiDof2()
String	serialize(long dataBuffer, btSerializer serializer)
void	setAngularDamping(float damp)
void	setBaseCollider(btMultiBodyLinkCollider collider)
void	setBaseInertia(Vector3 inertia)
void	setBaseMass(float mass)
void	setBaseName(String name)
void	setBaseOmega(Vector3 omega)
void	setBasePos(Vector3 pos)
void	setBaseVel(Vector3 vel)
void	setBaseWorldTransform(Matrix4 tr)
void	setCanSleep(boolean canSleep)
void	setCompanionId(int id)
void	setHasSelfCollision(boolean hasSelfCollision)
void	setJointPos(int i, float q)
void	setJointPosMultiDof(int i, FloatBuffer q)
void	setJointVel(int i, float qdot)
void	setJointVelMultiDof(int i, FloatBuffer qdot)
void	setLinearDamping(float damp)
void	setMaxAppliedImpulse(float maxImp)
void	setMaxCoordinateVelocity(float maxVel)
void	setNumLinks(int numLinks)
void	setPosUpdated(boolean updated)
void	setupFixed(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset)
void	setupFixed(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean deprecatedDisableParentCollision)
void	setupPlanar(int i, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 rotationAxis, Vector3 parentComToThisComOffset)
void	setupPlanar(int i, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 rotationAxis, Vector3 parentComToThisComOffset, boolean disableParentCollision)
void	setupPrismatic(int i, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 jointAxis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean disableParentCollision)
void	setupRevolute(int linkIndex, float mass, Vector3 inertia, int parentIndex, Quaternion rotParentToThis, Vector3 jointAxis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset)
void	setupRevolute(int linkIndex, float mass, Vector3 inertia, int parentIndex, Quaternion rotParentToThis, Vector3 jointAxis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean disableParentCollision)
void	setupSpherical(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset)
void	setupSpherical(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean disableParentCollision)
void	setUseGyroTerm(boolean useGyro)
void	setUserIndex(int index)
void	setUserIndex2(int index)
void	setUserPointer(long userPointer)
void	setWorldToBaseRot(Quaternion rot)
void	stepPositionsMultiDof(float dt)
void	stepPositionsMultiDof(float dt, FloatBuffer pq)
void	stepPositionsMultiDof(float dt, FloatBuffer pq, FloatBuffer pqd)
void	stepVelocitiesMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
void	stepVelocitiesMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m, boolean isConstraintPass)
void	updateCollisionObjectWorldTransforms(SWIGTYPE_p_btAlignedObjectArrayT_btQuaternion_t scratch_q, btVector3Array scratch_m)
void	useGlobalVelocities(boolean use)
void	useRK4Integration(boolean use)
void	wakeUp()
Vector3	worldDirToLocal(int i, Vector3 vec)
Vector3	worldPosToLocal(int i, Vector3 vec)

Methods inherited from class com.badlogic.gdx.physics.bullet.BulletBase

dispose, equals, getCPointer, hashCode, hasOwnership, isDisposed, isObtained, obtain, release, releaseOwnership, takeOwnership, toString

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btMultiBody

public btMultiBody(long cPtr,
                   boolean cMemoryOwn)

Construct a new btMultiBody, normally you should not need this constructor it's intended for low-level usage.

btMultiBody

public btMultiBody(int n_links,
                   float mass,
                   Vector3 inertia,
                   boolean fixedBase,
                   boolean canSleep,
                   boolean deprecatedMultiDof)

btMultiBody

public btMultiBody(int n_links,
                   float mass,
                   Vector3 inertia,
                   boolean fixedBase,
                   boolean canSleep)

Method Detail

getCPtr

public static long getCPtr(btMultiBody obj)

operatorNew

public long operatorNew(long sizeInBytes)

operatorDelete

public void operatorDelete(long ptr)

operatorNew

public long operatorNew(long arg0,
                        long ptr)

operatorDelete

public void operatorDelete(long arg0,
                           long arg1)

operatorNewArray

public long operatorNewArray(long sizeInBytes)

operatorDeleteArray

public void operatorDeleteArray(long ptr)

operatorNewArray

public long operatorNewArray(long arg0,
                             long ptr)

operatorDeleteArray

public void operatorDeleteArray(long arg0,
                                long arg1)

setupFixed

public void setupFixed(int linkIndex,
                       float mass,
                       Vector3 inertia,
                       int parent,
                       Quaternion rotParentToThis,
                       Vector3 parentComToThisPivotOffset,
                       Vector3 thisPivotToThisComOffset,
                       boolean deprecatedDisableParentCollision)

setupFixed

public void setupFixed(int linkIndex,
                       float mass,
                       Vector3 inertia,
                       int parent,
                       Quaternion rotParentToThis,
                       Vector3 parentComToThisPivotOffset,
                       Vector3 thisPivotToThisComOffset)

setupPrismatic

public void setupPrismatic(int i,
                           float mass,
                           Vector3 inertia,
                           int parent,
                           Quaternion rotParentToThis,
                           Vector3 jointAxis,
                           Vector3 parentComToThisPivotOffset,
                           Vector3 thisPivotToThisComOffset,
                           boolean disableParentCollision)

setupRevolute

public void setupRevolute(int linkIndex,
                          float mass,
                          Vector3 inertia,
                          int parentIndex,
                          Quaternion rotParentToThis,
                          Vector3 jointAxis,
                          Vector3 parentComToThisPivotOffset,
                          Vector3 thisPivotToThisComOffset,
                          boolean disableParentCollision)

setupRevolute

public void setupRevolute(int linkIndex,
                          float mass,
                          Vector3 inertia,
                          int parentIndex,
                          Quaternion rotParentToThis,
                          Vector3 jointAxis,
                          Vector3 parentComToThisPivotOffset,
                          Vector3 thisPivotToThisComOffset)

setupSpherical

public void setupSpherical(int linkIndex,
                           float mass,
                           Vector3 inertia,
                           int parent,
                           Quaternion rotParentToThis,
                           Vector3 parentComToThisPivotOffset,
                           Vector3 thisPivotToThisComOffset,
                           boolean disableParentCollision)

setupSpherical

public void setupSpherical(int linkIndex,
                           float mass,
                           Vector3 inertia,
                           int parent,
                           Quaternion rotParentToThis,
                           Vector3 parentComToThisPivotOffset,
                           Vector3 thisPivotToThisComOffset)

setupPlanar

public void setupPlanar(int i,
                        float mass,
                        Vector3 inertia,
                        int parent,
                        Quaternion rotParentToThis,
                        Vector3 rotationAxis,
                        Vector3 parentComToThisComOffset,
                        boolean disableParentCollision)

setupPlanar

public void setupPlanar(int i,
                        float mass,
                        Vector3 inertia,
                        int parent,
                        Quaternion rotParentToThis,
                        Vector3 rotationAxis,
                        Vector3 parentComToThisComOffset)

getLinkConst

public btMultibodyLink getLinkConst(int index)

getLink

public btMultibodyLink getLink(int index)

setBaseCollider

public void setBaseCollider(btMultiBodyLinkCollider collider)

getBaseColliderConst

public btMultiBodyLinkCollider getBaseColliderConst()

getBaseCollider

public btMultiBodyLinkCollider getBaseCollider()

getLinkCollider

public btMultiBodyLinkCollider getLinkCollider(int index)

getParent

public int getParent(int link_num)

getNumLinks

public int getNumLinks()

getNumDofs

public int getNumDofs()

getNumPosVars

public int getNumPosVars()

getBaseMass

public float getBaseMass()

getBaseInertia

public Vector3 getBaseInertia()

getLinkMass

public float getLinkMass(int i)

getLinkInertia

public Vector3 getLinkInertia(int i)

setBaseMass

public void setBaseMass(float mass)

setBaseInertia

public void setBaseInertia(Vector3 inertia)

getBasePos

public Vector3 getBasePos()

getBaseVel

public Vector3 getBaseVel()

getWorldToBaseRot

public Quaternion getWorldToBaseRot()

getBaseOmega

public Vector3 getBaseOmega()

setBasePos

public void setBasePos(Vector3 pos)

setBaseWorldTransform

public void setBaseWorldTransform(Matrix4 tr)

getBaseWorldTransform

public Matrix4 getBaseWorldTransform()

setBaseVel

public void setBaseVel(Vector3 vel)

setWorldToBaseRot

public void setWorldToBaseRot(Quaternion rot)

setBaseOmega

public void setBaseOmega(Vector3 omega)

getJointPos

public float getJointPos(int i)

getJointVel

public float getJointVel(int i)

getJointVelMultiDof

public FloatBuffer getJointVelMultiDof(int i)

getJointPosMultiDof

public FloatBuffer getJointPosMultiDof(int i)

getJointVelMultiDofConst

public FloatBuffer getJointVelMultiDofConst(int i)

getJointPosMultiDofConst

public FloatBuffer getJointPosMultiDofConst(int i)

setJointPos

public void setJointPos(int i,
                        float q)

setJointVel

public void setJointVel(int i,
                        float qdot)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                FloatBuffer q)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                FloatBuffer qdot)

getVelocityVector

public FloatBuffer getVelocityVector()

getRVector

public Vector3 getRVector(int i)

getParentToLocalRot

public Quaternion getParentToLocalRot(int i)

localPosToWorld

public Vector3 localPosToWorld(int i,
                               Vector3 vec)

localDirToWorld

public Vector3 localDirToWorld(int i,
                               Vector3 vec)

worldPosToLocal

public Vector3 worldPosToLocal(int i,
                               Vector3 vec)

worldDirToLocal

public Vector3 worldDirToLocal(int i,
                               Vector3 vec)

localFrameToWorld

public Matrix3 localFrameToWorld(int i,
                                 Matrix3 mat)

getKineticEnergy

public float getKineticEnergy()

getAngularMomentum

public Vector3 getAngularMomentum()

clearForcesAndTorques

public void clearForcesAndTorques()

clearConstraintForces

public void clearConstraintForces()

clearVelocities

public void clearVelocities()

addBaseForce

public void addBaseForce(Vector3 f)

addBaseTorque

public void addBaseTorque(Vector3 t)

addLinkForce

public void addLinkForce(int i,
                         Vector3 f)

addLinkTorque

public void addLinkTorque(int i,
                          Vector3 t)

addBaseConstraintForce

public void addBaseConstraintForce(Vector3 f)

addBaseConstraintTorque

public void addBaseConstraintTorque(Vector3 t)

addLinkConstraintForce

public void addLinkConstraintForce(int i,
                                   Vector3 f)

addLinkConstraintTorque

public void addLinkConstraintTorque(int i,
                                    Vector3 t)

addJointTorque

public void addJointTorque(int i,
                           float Q)

addJointTorqueMultiDof

public void addJointTorqueMultiDof(int i,
                                   int dof,
                                   float Q)

addJointTorqueMultiDof

public void addJointTorqueMultiDof(int i,
                                   FloatBuffer Q)

getBaseForce

public Vector3 getBaseForce()

getBaseTorque

public Vector3 getBaseTorque()

getLinkForce

public Vector3 getLinkForce(int i)

getLinkTorque

public Vector3 getLinkTorque(int i)

getJointTorque

public float getJointTorque(int i)

getJointTorqueMultiDof

public FloatBuffer getJointTorqueMultiDof(int i)

computeAccelerationsArticulatedBodyAlgorithmMultiDof

public void computeAccelerationsArticulatedBodyAlgorithmMultiDof(float dt,
                                                                 btScalarArray scratch_r,
                                                                 btVector3Array scratch_v,
                                                                 SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m,
                                                                 boolean isConstraintPass)

computeAccelerationsArticulatedBodyAlgorithmMultiDof

public void computeAccelerationsArticulatedBodyAlgorithmMultiDof(float dt,
                                                                 btScalarArray scratch_r,
                                                                 btVector3Array scratch_v,
                                                                 SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)

stepVelocitiesMultiDof

public void stepVelocitiesMultiDof(float dt,
                                   btScalarArray scratch_r,
                                   btVector3Array scratch_v,
                                   SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m,
                                   boolean isConstraintPass)

stepVelocitiesMultiDof

public void stepVelocitiesMultiDof(float dt,
                                   btScalarArray scratch_r,
                                   btVector3Array scratch_v,
                                   SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)

calcAccelerationDeltasMultiDof

public void calcAccelerationDeltasMultiDof(FloatBuffer force,
                                           FloatBuffer output,
                                           btScalarArray scratch_r,
                                           btVector3Array scratch_v)

applyDeltaVeeMultiDof2

public void applyDeltaVeeMultiDof2(FloatBuffer delta_vee,
                                   float multiplier)

processDeltaVeeMultiDof2

public void processDeltaVeeMultiDof2()

applyDeltaVeeMultiDof

public void applyDeltaVeeMultiDof(FloatBuffer delta_vee,
                                  float multiplier)

stepPositionsMultiDof

public void stepPositionsMultiDof(float dt,
                                  FloatBuffer pq,
                                  FloatBuffer pqd)

stepPositionsMultiDof

public void stepPositionsMultiDof(float dt,
                                  FloatBuffer pq)

stepPositionsMultiDof

public void stepPositionsMultiDof(float dt)

fillContactJacobianMultiDof

public void fillContactJacobianMultiDof(int link,
                                        Vector3 contact_point,
                                        Vector3 normal,
                                        FloatBuffer jac,
                                        btScalarArray scratch_r,
                                        btVector3Array scratch_v,
                                        SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)

fillConstraintJacobianMultiDof

public void fillConstraintJacobianMultiDof(int link,
                                           Vector3 contact_point,
                                           Vector3 normal_ang,
                                           Vector3 normal_lin,
                                           FloatBuffer jac,
                                           btScalarArray scratch_r,
                                           btVector3Array scratch_v,
                                           SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)

setCanSleep

public void setCanSleep(boolean canSleep)

getCanSleep

public boolean getCanSleep()

isAwake

public boolean isAwake()

wakeUp

public void wakeUp()

goToSleep

public void goToSleep()

checkMotionAndSleepIfRequired

public void checkMotionAndSleepIfRequired(float timestep)

hasFixedBase

public boolean hasFixedBase()

getCompanionId

public int getCompanionId()

setCompanionId

public void setCompanionId(int id)

setNumLinks

public void setNumLinks(int numLinks)

getLinearDamping

public float getLinearDamping()

setLinearDamping

public void setLinearDamping(float damp)

getAngularDamping

public float getAngularDamping()

setAngularDamping

public void setAngularDamping(float damp)

getUseGyroTerm

public boolean getUseGyroTerm()

setUseGyroTerm

public void setUseGyroTerm(boolean useGyro)

getMaxCoordinateVelocity

public float getMaxCoordinateVelocity()

setMaxCoordinateVelocity

public void setMaxCoordinateVelocity(float maxVel)

getMaxAppliedImpulse

public float getMaxAppliedImpulse()

setMaxAppliedImpulse

public void setMaxAppliedImpulse(float maxImp)

setHasSelfCollision

public void setHasSelfCollision(boolean hasSelfCollision)

hasSelfCollision

public boolean hasSelfCollision()

finalizeMultiDof

public void finalizeMultiDof()

useRK4Integration

public void useRK4Integration(boolean use)

isUsingRK4Integration

public boolean isUsingRK4Integration()

useGlobalVelocities

public void useGlobalVelocities(boolean use)

isUsingGlobalVelocities

public boolean isUsingGlobalVelocities()

isPosUpdated

public boolean isPosUpdated()

setPosUpdated

public void setPosUpdated(boolean updated)

internalNeedsJointFeedback

public boolean internalNeedsJointFeedback()

forwardKinematics

public void forwardKinematics(SWIGTYPE_p_btAlignedObjectArrayT_btQuaternion_t scratch_q,
                              btVector3Array scratch_m)

compTreeLinkVelocities

public void compTreeLinkVelocities(btVector3 omega,
                                   btVector3 vel)

updateCollisionObjectWorldTransforms

public void updateCollisionObjectWorldTransforms(SWIGTYPE_p_btAlignedObjectArrayT_btQuaternion_t scratch_q,
                                                 btVector3Array scratch_m)

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

serialize

public String serialize(long dataBuffer,
                        btSerializer serializer)

getBaseName

public String getBaseName()

setBaseName

public void setBaseName(String name)

getUserPointer

public long getUserPointer()

getUserIndex

public int getUserIndex()

getUserIndex2

public int getUserIndex2()

setUserPointer

public void setUserPointer(long userPointer)

setUserIndex

public void setUserIndex(int index)

setUserIndex2

public void setUserIndex2(int index)