com.badlogic.gdx.physics.bullet.dynamics

Class btRigidBody

java.lang.Object

com.badlogic.gdx.physics.bullet.BulletBase

com.badlogic.gdx.physics.bullet.collision.btCollisionObject

com.badlogic.gdx.physics.bullet.dynamics.btRigidBody

All Implemented Interfaces:

Disposable

public class btRigidBody
extends btCollisionObject

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	btRigidBody.btRigidBodyConstructionInfo

Nested classes/interfaces inherited from class com.badlogic.gdx.physics.bullet.collision.btCollisionObject

btCollisionObject.AnisotropicFrictionFlags, btCollisionObject.CollisionFlags, btCollisionObject.CollisionObjectTypes

Field Summary

Fields inherited from class com.badlogic.gdx.physics.bullet.collision.btCollisionObject

instances, userData

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

className

Constructor Summary

Constructors

Constructor and Description
btRigidBody(btRigidBody.btRigidBodyConstructionInfo constructionInfo)
btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape)
btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape, Vector3 localInertia)
btRigidBody(long cPtr, boolean cMemoryOwn) Construct a new btRigidBody, normally you should not need this constructor it's intended for low-level usage.

Method Summary

Modifier and Type	Method and Description
void	addConstraintRef(btTypedConstraint c)
void	applyCentralForce(Vector3 force)
void	applyCentralImpulse(Vector3 impulse)
void	applyDamping(float timeStep)
void	applyForce(Vector3 force, Vector3 rel_pos)
void	applyGravity()
void	applyImpulse(Vector3 impulse, Vector3 rel_pos)
void	applyTorque(Vector3 torque)
void	applyTorqueImpulse(Vector3 torque)
void	clearForces()
float	computeAngularImpulseDenominator(Vector3 axis)
Vector3	computeGyroscopicForceExplicit(float maxGyroscopicForce)
Vector3	computeGyroscopicImpulseImplicit_Body(float step)
Vector3	computeGyroscopicImpulseImplicit_World(float dt)
float	computeImpulseDenominator(Vector3 pos, Vector3 normal)
void	dispose()
void	getAabb(Vector3 aabbMin, Vector3 aabbMax)
float	getAngularDamping()
Vector3	getAngularFactor()
float	getAngularSleepingThreshold()
Vector3	getAngularVelocity()
btBroadphaseProxy	getBroadphaseProxy()
btBroadphaseProxy	getBroadphaseProxyConst()
Vector3	getCenterOfMassPosition()
Matrix4	getCenterOfMassTransform()
btTypedConstraint	getConstraintRef(int index)
int	getContactSolverType()
static long	getCPtr(btRigidBody obj)
int	getFlags()
int	getFrictionSolverType()
Vector3	getGravity()
static btRigidBody	getInstance(long swigCPtr)
static btRigidBody	getInstance(long swigCPtr, boolean owner)
Vector3	getInvInertiaDiagLocal()
Matrix3	getInvInertiaTensorWorld()
float	getInvMass()
float	getLinearDamping()
Vector3	getLinearFactor()
float	getLinearSleepingThreshold()
Vector3	getLinearVelocity()
Vector3	getLocalInertia()
btMotionState	getMotionState()
int	getNumConstraintRefs()
Quaternion	getOrientation()
Vector3	getTotalForce()
Vector3	getTotalTorque()
Vector3	getVelocityInLocalPoint(Vector3 rel_pos)
void	integrateVelocities(float step)
boolean	isInWorld()
void	predictIntegratedTransform(float step, Matrix4 predictedTransform)
void	proceedToTransform(Matrix4 newTrans)
void	removeConstraintRef(btTypedConstraint c)
void	saveKinematicState(float step)
void	setAngularFactor(float angFac)
void	setAngularFactor(Vector3 angFac)
void	setAngularVelocity(Vector3 ang_vel)
void	setCenterOfMassTransform(Matrix4 xform)
void	setContactSolverType(int value)
void	setDamping(float lin_damping, float ang_damping)
void	setFlags(int flags)
void	setFrictionSolverType(int value)
void	setGravity(Vector3 acceleration)
void	setInvInertiaDiagLocal(Vector3 diagInvInertia)
void	setLinearFactor(Vector3 linearFactor)
void	setLinearVelocity(Vector3 lin_vel)
void	setMassProps(float mass, Vector3 inertia)
void	setMotionState(btMotionState motionState)
void	setNewBroadphaseProxy(btBroadphaseProxy broadphaseProxy)
void	setSleepingThresholds(float linear, float angular)
void	translate(Vector3 v)
void	updateDeactivation(float timeStep)
void	updateInertiaTensor()
boolean	wantsSleeping()

Methods inherited from class com.badlogic.gdx.physics.bullet.collision.btCollisionObject

activate, activate, addInstance, calculateSerializeBufferSize, checkCollideWith, checkCollideWithOverride, forceActivationState, getActivationState, getAnisotropicFriction, getAnisotropicFriction, getBroadphaseHandle, getCcdMotionThreshold, getCcdSquareMotionThreshold, getCcdSweptSphereRadius, getCollisionFlags, getCollisionShape, getCompanionId, getContactCallbackFilter, getContactCallbackFlag, getContactDamping, getContactProcessingThreshold, getContactStiffness, getCPtr, getCustomDebugColor, getDeactivationTime, getFriction, getHitFraction, getInternalType, getInterpolationAngularVelocity, getInterpolationAngularVelocity, getInterpolationLinearVelocity, getInterpolationLinearVelocity, getInterpolationWorldTransform, getInterpolationWorldTransform, getIslandTag, getRestitution, getRollingFriction, getSpinningFriction, getUpdateRevisionInternal, getUserIndex, getUserIndex2, getUserPointer, getUserValue, getWorldArrayIndex, getWorldTransform, getWorldTransform, hasAnisotropicFriction, hasAnisotropicFriction, hasContactResponse, internalGetExtensionPointer, internalSetExtensionPointer, isActive, isKinematicObject, isStaticObject, isStaticOrKinematicObject, mergesSimulationIslands, operatorDelete, operatorDelete, operatorDeleteArray, operatorDeleteArray, operatorNew, operatorNew, operatorNewArray, operatorNewArray, removeCustomDebugColor, removeInstance, serialize, serializeSingleObject, setActivationState, setAnisotropicFriction, setAnisotropicFriction, setBroadphaseHandle, setCcdMotionThreshold, setCcdSweptSphereRadius, setCollisionFlags, setCollisionShape, setCompanionId, setContactCallbackFilter, setContactCallbackFlag, setContactProcessingThreshold, setContactStiffnessAndDamping, setCustomDebugColor, setDeactivationTime, setFriction, setHitFraction, setIgnoreCollisionCheck, setInterpolationAngularVelocity, setInterpolationLinearVelocity, setInterpolationWorldTransform, setIslandTag, setRestitution, setRollingFriction, setSpinningFriction, setUserIndex, setUserIndex2, setUserPointer, setUserValue, setWorldArrayIndex, setWorldTransform

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

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

btRigidBody

public btRigidBody(long cPtr,
                   boolean cMemoryOwn)

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

btRigidBody

public btRigidBody(btRigidBody.btRigidBodyConstructionInfo constructionInfo)

btRigidBody

public btRigidBody(float mass,
                   btMotionState motionState,
                   btCollisionShape collisionShape,
                   Vector3 localInertia)

btRigidBody

public btRigidBody(float mass,
                   btMotionState motionState,
                   btCollisionShape collisionShape)

Method Detail

getCPtr

public static long getCPtr(btRigidBody obj)

getInstance

public static btRigidBody getInstance(long swigCPtr)

Returns:

The existing instance for the specified pointer, or null if the instance doesn't exist

getInstance

public static btRigidBody getInstance(long swigCPtr,
                                      boolean owner)

Returns:

The existing instance for the specified pointer, or a newly created instance if the instance didn't exist

setMotionState

public void setMotionState(btMotionState motionState)

getMotionState

public btMotionState getMotionState()

dispose

public void dispose()

Specified by:

dispose in interface Disposable

Overrides:

dispose in class btCollisionObject

proceedToTransform

public void proceedToTransform(Matrix4 newTrans)

predictIntegratedTransform

public void predictIntegratedTransform(float step,
                                       Matrix4 predictedTransform)

saveKinematicState

public void saveKinematicState(float step)

applyGravity

public void applyGravity()

setGravity

public void setGravity(Vector3 acceleration)

getGravity

public Vector3 getGravity()

setDamping

public void setDamping(float lin_damping,
                       float ang_damping)

getLinearDamping

public float getLinearDamping()

getAngularDamping

public float getAngularDamping()

getLinearSleepingThreshold

public float getLinearSleepingThreshold()

getAngularSleepingThreshold

public float getAngularSleepingThreshold()

applyDamping

public void applyDamping(float timeStep)

setMassProps

public void setMassProps(float mass,
                         Vector3 inertia)

getLinearFactor

public Vector3 getLinearFactor()

setLinearFactor

public void setLinearFactor(Vector3 linearFactor)

getInvMass

public float getInvMass()

getInvInertiaTensorWorld

public Matrix3 getInvInertiaTensorWorld()

integrateVelocities

public void integrateVelocities(float step)

setCenterOfMassTransform

public void setCenterOfMassTransform(Matrix4 xform)

applyCentralForce

public void applyCentralForce(Vector3 force)

getTotalForce

public Vector3 getTotalForce()

getTotalTorque

public Vector3 getTotalTorque()

getInvInertiaDiagLocal

public Vector3 getInvInertiaDiagLocal()

setInvInertiaDiagLocal

public void setInvInertiaDiagLocal(Vector3 diagInvInertia)

setSleepingThresholds

public void setSleepingThresholds(float linear,
                                  float angular)

applyTorque

public void applyTorque(Vector3 torque)

applyForce

public void applyForce(Vector3 force,
                       Vector3 rel_pos)

applyCentralImpulse

public void applyCentralImpulse(Vector3 impulse)

applyTorqueImpulse

public void applyTorqueImpulse(Vector3 torque)

applyImpulse

public void applyImpulse(Vector3 impulse,
                         Vector3 rel_pos)

clearForces

public void clearForces()

updateInertiaTensor

public void updateInertiaTensor()

getCenterOfMassPosition

public Vector3 getCenterOfMassPosition()

getOrientation

public Quaternion getOrientation()

getCenterOfMassTransform

public Matrix4 getCenterOfMassTransform()

getLinearVelocity

public Vector3 getLinearVelocity()

getAngularVelocity

public Vector3 getAngularVelocity()

setLinearVelocity

public void setLinearVelocity(Vector3 lin_vel)

setAngularVelocity

public void setAngularVelocity(Vector3 ang_vel)

getVelocityInLocalPoint

public Vector3 getVelocityInLocalPoint(Vector3 rel_pos)

translate

public void translate(Vector3 v)

getAabb

public void getAabb(Vector3 aabbMin,
                    Vector3 aabbMax)

computeImpulseDenominator

public float computeImpulseDenominator(Vector3 pos,
                                       Vector3 normal)

computeAngularImpulseDenominator

public float computeAngularImpulseDenominator(Vector3 axis)

updateDeactivation

public void updateDeactivation(float timeStep)

wantsSleeping

public boolean wantsSleeping()

getBroadphaseProxyConst

public btBroadphaseProxy getBroadphaseProxyConst()

getBroadphaseProxy

public btBroadphaseProxy getBroadphaseProxy()

setNewBroadphaseProxy

public void setNewBroadphaseProxy(btBroadphaseProxy broadphaseProxy)

setContactSolverType

public void setContactSolverType(int value)

getContactSolverType

public int getContactSolverType()

setFrictionSolverType

public void setFrictionSolverType(int value)

getFrictionSolverType

public int getFrictionSolverType()

setAngularFactor

public void setAngularFactor(Vector3 angFac)

setAngularFactor

public void setAngularFactor(float angFac)

getAngularFactor

public Vector3 getAngularFactor()

isInWorld

public boolean isInWorld()

addConstraintRef

public void addConstraintRef(btTypedConstraint c)

removeConstraintRef

public void removeConstraintRef(btTypedConstraint c)

getConstraintRef

public btTypedConstraint getConstraintRef(int index)

getNumConstraintRefs

public int getNumConstraintRefs()

setFlags

public void setFlags(int flags)

getFlags

public int getFlags()

computeGyroscopicImpulseImplicit_World

public Vector3 computeGyroscopicImpulseImplicit_World(float dt)

computeGyroscopicImpulseImplicit_Body

public Vector3 computeGyroscopicImpulseImplicit_Body(float step)

computeGyroscopicForceExplicit

public Vector3 computeGyroscopicForceExplicit(float maxGyroscopicForce)

getLocalInertia

public Vector3 getLocalInertia()