com.badlogic.gdx.physics.bullet.dynamics

Class btMultiBodyConstraint

java.lang.Object

com.badlogic.gdx.physics.bullet.BulletBase

com.badlogic.gdx.physics.bullet.dynamics.btMultiBodyConstraint

All Implemented Interfaces:

Disposable

Direct Known Subclasses:

btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyJointLimitConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, btMultiBodySliderConstraint

public class btMultiBodyConstraint
extends BulletBase

Field Summary

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

className

Constructor Summary

Constructors

Constructor and Description
btMultiBodyConstraint(long cPtr, boolean cMemoryOwn) Construct a new btMultiBodyConstraint, normally you should not need this constructor it's intended for low-level usage.

Method Summary

Modifier and Type	Method and Description
void	allocateJacobiansMultiDof()
void	createConstraintRows(SWIGTYPE_p_btAlignedObjectArrayT_btMultiBodySolverConstraint_t constraintRows, btMultiBodyJacobianData data, btContactSolverInfo infoGlobal)
void	debugDraw(btIDebugDraw drawer)
void	finalizeMultiDof()
float	getAppliedImpulse(int dof)
static long	getCPtr(btMultiBodyConstraint obj)
int	getIslandIdA()
int	getIslandIdB()
float	getMaxAppliedImpulse()
btMultiBody	getMultiBodyA()
btMultiBody	getMultiBodyB()
int	getNumRows()
float	getPosition(int row)
void	internalSetAppliedImpulse(int dof, float appliedImpulse)
boolean	isUnilateral()
FloatBuffer	jacobianA(int row)
FloatBuffer	jacobianAConst(int row)
FloatBuffer	jacobianB(int row)
FloatBuffer	jacobianBConst(int row)
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	setErp(float erp)
void	setFrameInB(Matrix3 frameInB)
void	setGearAuxLink(int gearAuxLink)
void	setGearRatio(float ratio)
void	setMaxAppliedImpulse(float maxImp)
void	setPivotInB(Vector3 pivotInB)
void	setPosition(int row, float pos)
void	setRelativePositionTarget(float relPosTarget)
void	updateJacobianSizes()

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

btMultiBodyConstraint

public btMultiBodyConstraint(long cPtr,
                             boolean cMemoryOwn)

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

Method Detail

getCPtr

public static long getCPtr(btMultiBodyConstraint 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)

updateJacobianSizes

public void updateJacobianSizes()

allocateJacobiansMultiDof

public void allocateJacobiansMultiDof()

setFrameInB

public void setFrameInB(Matrix3 frameInB)

setPivotInB

public void setPivotInB(Vector3 pivotInB)

finalizeMultiDof

public void finalizeMultiDof()

getIslandIdA

public int getIslandIdA()

getIslandIdB

public int getIslandIdB()

createConstraintRows

public void createConstraintRows(SWIGTYPE_p_btAlignedObjectArrayT_btMultiBodySolverConstraint_t constraintRows,
                                 btMultiBodyJacobianData data,
                                 btContactSolverInfo infoGlobal)

getNumRows

public int getNumRows()

getMultiBodyA

public btMultiBody getMultiBodyA()

getMultiBodyB

public btMultiBody getMultiBodyB()

internalSetAppliedImpulse

public void internalSetAppliedImpulse(int dof,
                                      float appliedImpulse)

getAppliedImpulse

public float getAppliedImpulse(int dof)

getPosition

public float getPosition(int row)

setPosition

public void setPosition(int row,
                        float pos)

isUnilateral

public boolean isUnilateral()

jacobianA

public FloatBuffer jacobianA(int row)

jacobianAConst

public FloatBuffer jacobianAConst(int row)

jacobianB

public FloatBuffer jacobianB(int row)

jacobianBConst

public FloatBuffer jacobianBConst(int row)

getMaxAppliedImpulse

public float getMaxAppliedImpulse()

setMaxAppliedImpulse

public void setMaxAppliedImpulse(float maxImp)

debugDraw

public void debugDraw(btIDebugDraw drawer)

setGearRatio

public void setGearRatio(float ratio)

setGearAuxLink

public void setGearAuxLink(int gearAuxLink)

setRelativePositionTarget

public void setRelativePositionTarget(float relPosTarget)

setErp

public void setErp(float erp)